Node to create a zone for exploration

This package contains a node that creates a zone which is then decomposed in a grid of points. These points form a path which is passed thought a topic.

Kinetic

launch

• exploration.launch

src

• exploration_node.cpp

exploration_node.cpp

• Subs:
  • /clicked_point (geometry_msgs::PointStamped): points clicked in Rviz that conform the polygon
  • /start (std_msgs::String): publish 'start' to begin grid generator
• Pubs:
  • /exploration_zone (geomerty_msgs::PolygonStamped): polygon of the zone
  • /points (visualization_msgs::Marker): markers of the points
  • /path (nav_msgs::Path): path to follow