# ROS2_Frontier_Exploration

**Repository Path**: light169/ROS2_Frontier_Exploration

## Basic Information

- **Project Name**: ROS2_Frontier_Exploration
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Apache-2.0
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2025-06-11
- **Last Updated**: 2025-06-11

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ROS2_Frontier_Detector
![target-with-frontiers-3](https://github.com/jiangjingxue/ROS2_Frontier_Detection/assets/119235879/142cf165-d48d-4113-b025-9a710dacced0)
## Usage
Include `frontier_detector.h` header in your file:
```
#include "frontier_detector.h"
```
Dynamically create a frontier detector object:
```
frontier_detector = std::make_shared<WavefrontFrontierDetector>();
```
Create a vector to hold the detected frontier segements:
```
std::vector<FrontierSegment> frontier_segments;
```
Search for the frontiers:
```
frontier_detector->searchFrontierSegments(frontier_segments,current_robot_pose,costmap);
```
You can access the centroid of the detected frontier segments i by:
```
geometry_msgs::msg::Point centroid = frontier_segments[i].centroid;
```