A modified version for navigation_2d package.

This is a ROS package for Graph-Based_SLAM-Aware_Exploration. It is modified from navigation_2d, which provides ROS nodes to navigate a mobile robot in a planar environment.

Documentation and Tutorials can be found in the ROS-Wiki

Note this package cannot be build alone without the cpp_solver package (i.e., the Graph-Based_SLAM-Aware_Exploration package), as it includes header file #include <cpp_solver/PoseGraph.h> from the cpp_solver package in src/navigation_2d/nav2d_karto/include/nav2d_karto/MultiMapper.h for pose grpah advertisement.

Main modifications

Main functions of this package is not changed. The modifications mainly include:

1. Add ros publishers for SLAM pose graph visualization;
2. Improve frontier-based method for better frontier checking;
3. Record waypoint planning time in fronter-based method.