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Only released in EOL distros:  

odor_search: particle_plume | pp_explorer | random_walk

Package Summary

ROS implementation of a random walk algorithm based on the navigation stack.

Overview

This package contains an implementation of a random walk algorithm based on the navigation stack. The algorithm generates a random cell inside the map, checks if the cell is not an obstacle or too close to one, and sends the robot there.

ROS API

random_walk

random_walk is navigation stack based random walk algorithm.

Subscribed Topics

map (nav_msgs/OccupancyGrid) move_base/local_costmap/obstacles (nav_msgs/GridCells) /visited_cells (nav_msgs/GridCells)

Parameters

move_base/local_costmap/inflation_radius (double, default: 0.20)


2019-08-24 13:10