0 Frontiers Found

[prasgane]

Hi,

I have been trying to get Explorer Lite on my robot that works with move_base but keep running into issues where the node returns "found 0 frontiers" and stops exploration. The following is sample cost map that I saved in the searchFrom(...) function using costmap_->saveMap(std::string("~/costmap.pgm"));

Up on further investigation I found that isNewFrontierCell(...) never gets called. I have attached a small bag file from my robot, along with the yaml files we used. Any advice on how to resolve this bug would be helpful.

We are using ROS Melodic on Ubuntu 18.04.

Link to attachments.

[JiaoxianDu]

Launch explore.launch and I can get the normal results, but launch explore_costmap.launch I just get the same problem with you.