First code commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(robot_exploration)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  nav_msgs
+  move_base_msgs
+  actionlib
+  tf
+)
+catkin_package()
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+  INCLUDE_DIRS include
+#  LIBRARIES robot_exploration
+#  CATKIN_DEPENDS roscpp
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+FILE(GLOB_RECURSE LibFiles "include/*.hpp")
+add_custom_target(headers SOURCES ${LibFiles})
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${PROJECT_SOURCE_DIR}
+)
+
+
+## Declare a C++ library
+ add_library(frontier_detection_lib
+   src/robot_exploration.cpp
+   src/frontier_search.cpp
+   src/pose_handler.cpp
+)
+
+
+add_library(robot_exploration_lib
+  src/send_goal.cpp
+)
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(robot_exploration ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+target_link_libraries(frontier_detection_lib
+  ${catkin_LIBRARIES}
+)
+
+target_link_libraries(robot_exploration_lib
+  ${catkin_LIBRARIES}
+)
+
+## Declare a C++ executable
+add_executable(robot_exploration src/send_goal.cpp)
+add_executable(frontier_detection src/robot_exploration.cpp)
+
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(robot_exploration_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+
+target_link_libraries(frontier_detection
+  ${catkin_LIBRARIES}
+  frontier_detection_lib
+)
+ target_link_libraries(robot_exploration
+   ${catkin_LIBRARIES}
+   robot_exploration_lib
+ )
+
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS robot_exploration robot_exploration_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_robot_exploration.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+set(CMAKE_VERBOSE_MAKEFILE on)
+SET( CMAKE_CXX_FLAGS  "${CMAKE_CXX_FLAGS} -g")
+
+# Check C++11 or C++0x support
+include(CheckCXXCompilerFlag)
+CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
+CHECK_CXX_COMPILER_FLAG("-std=c++0x" COMPILER_SUPPORTS_CXX0X)
+if(COMPILER_SUPPORTS_CXX11)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+   add_definitions(-DCOMPILEDWITHC11)
+   message(STATUS "Using flag -std=c++11.")
+elseif(COMPILER_SUPPORTS_CXX0X)
+   set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++0x")
+   add_definitions(-DCOMPILEDWITHC0X)
+   message(STATUS "Using flag -std=c++0x.")
+else()
+   message(FATAL_ERROR "The compiler ${CMAKE_CXX_COMPILER} has no C++11 support. Please use a different C++ compiler.")
+endif()
+

include/robot_exploration/frontier_search.h

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+#ifndef FRONTIER_SEARCH_H
+#define FRONTIER_SEARCH_H
+
+#include <nav_msgs/OccupancyGrid.h>
+#include <robot_exploration/pose_handler.h>
+#include <math.h>
+
+namespace FrontierSearches{
+
+class FrontierSearch
+{
+public:
+  FrontierSearch(nav_msgs::OccupancyGrid& map, PoseHandlers::PoseHandler& pose_handler);
+  std::vector<std::vector<std::pair<int, int> > > buildBidimensionalMap();
+  std::vector<std::pair<int, int> > getCentroids(std::vector<std::vector<std::pair<int, int> > > frontiers);
+private:
+  nav_msgs::OccupancyGrid& map_;
+  PoseHandlers::PoseHandler& pose_handler_;
+  bool isFrontierCell(std::vector<std::vector<int> > grid, int w_index, int h_index, int radius, int value_to_check = -1);
+  bool isOnSameFrontier(std::vector<std::pair<int, int> > frontier, std::pair<int, int> candidate, float radius = sqrt(2.0));
+
+};
+
+}
+
+#endif // FRONTIER_SEARCH_H

include/robot_exploration/pose_handler.h

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+#ifndef POSE_HANDLER_H
+#define POSE_HANDLER_H
+
+#include <tf/transform_listener.h>
+
+namespace PoseHandlers{
+
+class PoseHandler
+{
+public:
+  PoseHandler();
+  tf::StampedTransform lookupPose(std::string parent="/map", std::string child="/base_link");
+
+private:
+    tf::TransformListener listener;
+
+};
+
+}
+#endif // POSE_HANDLER_H

package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>robot_exploration</name>
+  <version>0.1.0</version>
+  <description>The robot_exploration package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">andrea</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>Apache 2.0</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/robot_exploration</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+  <author >Andrea De Maio</author>
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <run_depend>roscpp</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>