Added autonomous exploration

src/dcaiti_navigation/launch/start_nav2.py

@@ -83,6 +83,14 @@ def generate_launch_description():
                 'slam_params_file': slam_params}.items()
   )
 
+  exploration = IncludeLaunchDescription(
+            PythonLaunchDescriptionSource([os.path.join(
+                get_package_share_directory('explore_lite'),'launch','explore.launch.py'
+            )]), 
+            launch_arguments={
+                'use_sim_time': 'true'}.items()
+  )
+
   # Create the launch description and populate
   ld = LaunchDescription([
       declare_namespace_cmd,
@@ -93,6 +101,7 @@ def generate_launch_description():
       declare_use_sim_time_cmd,
       start_ros2_navigation_cmd,
       slam_toolbox,
+      exploration,
   ])
 
   return ld

src/dcaiti_navigation/params/nav2_params.yaml

@@ -340,7 +340,7 @@ slam_toolbox:
     ceres_loss_function: None
 
     base_frame: base_link
-    map_update_interval: 1.0
+    map_update_interval: 0.1
     scan_topic: /scan
     odom_topic: /diff_cont/odom