Start / Stop exploring
Closed this issue · 4 comments
Timple commented
It would be nice if we can start and stop the exploring. Or maybe start until 'done'?
Would you accept a PR adding an action to start stop the exploration? Default can be started to keep backwards compatibility?
charlielito commented
Sure! PR's are welcome! I was also thinking adding the option to return to initial point after exploration is done
Timple commented
Ah yes, that would make a nice option.
Is there already a criterium when exploring is done?
charlielito commented
Yeah, it is donde when the algorithm cannot find any new frontier https://github.com/robo-friends/m-explore-ros2/blob/main/explore/src/explore.cpp#L195 or it already visited all frontiers so far https://github.com/robo-friends/m-explore-ros2/blob/main/explore/src/explore.cpp#L211
Timple commented
Awesome!