🧭 Explore Package – Modified from explorer_lite

Welcome! This is a modified version of the explorer_lite package for ROS 2. I’ve customized it to improve the autonomous exploration experience, especially when working with RTAB-Map and Nav2.

This package includes some new features like:

• An ArUco marker detector
• A boundary generator
• Ready-to-use launch and config files for both mapping and navigation

It's been tuned to work with the Panther robot from Husarion, but you can easily adapt it for your own robot by adjusting a few parameters.

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🚧 Work in Progress

Just a heads-up: the ArUco marker detector and boundary generator are still under development. The marker positions detected might not be accurate yet — they tend to deviate from the actual position, so treat them as experimental for now.

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✅ What's Included

• 🧭 Base exploration logic (from explorer_lite)
• 🆕 ArUco marker detector (WIP – needs tuning)
• 🆕 Boundary generator (WIP)
• ⚙️ Parameter files for Nav2 and RTAB-Map
• 🚀 Launch files to run everything quickly
• 🦾 Speed profile designed for Panther Husarion, but easy to tweak

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📦 How to Install

⚠️ Note:
To use this package, please make sure you have installed both:

• Nav2: [https://github.com/ros-navigation/navigation2)
• RTAB-Map: [https://github.com/introlab/rtabmap_ros)

Step 1: Clone this into your ROS 2 workspace

cd ~/your_ros2_ws/src
git clone https://github.com/kruthikhanurajkumar/Explore_by_roboconiitr

Step2:Install dependencies and build

cd ~/your_ros2_ws
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install
source install/setup.bash

🚀 How to Use

Launch RTAB-Map + Nav2 with exploration:

ros2 launch explore slam_and_nav_setup.launch.py

Launch aruco_marker_detector:

ros2 launch explore aruco.launch.py