ca_exploration: ROS package implementing a 2D exploration framework for 3D mapping with RGBD camera(s)

ROS package implementing a 2D exploration framework for 3D mapping with RGBD camera(s).

It works along with the rtabmap_ros ROS package. More information and instructions in their Github page.

It can work with any RGBD camera (and laser scan) configuration allowed in rtabmap_ros. The point cloud ground projection is used for exploration purposes.

This framework allow to choose many strategic decision from command line.