Hello !

Thanks for sharing your code. I'm trying to use it on a custom robot.

I followed the step you proposed for running the node (sim, robot and then ros2 run..) but the robot doesn't move. I made sure to change the topics names on the script to match the robot's. On rviz I can see my map and the output of my scanner.

I did a bit of digging on the code and it seems that there is no path generated. It keeps sending the robot position as a goal. I think the issue comes from A* algorithm. I send different start and goal position but no goal is found and the closest path to the goal is the initial position. I also checked, there are free cells and frontier were successfully defined.

Have you already encountered this kind of issue? Do you know where the problem could come from?

Thanks in advance !

fs
dfs(matrix, i + 1, j - 1, group, groups) # sol alt çapraz
File "/home/omar/ros2_ws/install/autonomous_exploration/lib/python3.10/site-packages/autonomous_exploration/control.py", line 185, in dfs
dfs(matrix, i + 1, j, group, groups)
File "/home/omar/ros2_ws/install/autonomous_exploration/lib/python3.10/site-packages/autonomous_exploration/control.py", line 176, in dfs
if i < 0 or i >= len(matrix) or j < 0 or j >= len(matrix[0]):
RecursionError: maximum recursion depth exceeded in comparison