Implementation of a ROS system on a Turtlebot-like robot to explore an unknown environment, mapping it and recognizing various danger signs.
The ROS packages required to run the system, which are not included in the initial ROS full install, are find_object_2d, gmapping and map_server.
In order to run the whole system, launch the main.launch file inside the exploration_main package. The rviz window will appear and display how the whole system works. The white and orange cells display the known free space and the frontiers to explore, the black cells display the inflated obstacles in the environment and the green cells show the generated trajectory to travel from the current robot position to one of the frontiers. The red text shows the position and name of the danger sign detected inside the map. The find_object_2d window will also appear, showing how the signs are detected from our trained set of objects. When the exploration terminates, it will save the map to the result folder of the exploration_main package. Once that is done, simply kill the rest of the nodes either by typing rosnode kill node1 node2 etc... or by executing Ctrl-C on the terminal window.