Navigation succeeds, but exploration hangs; return to initial pose ignored sometimes

[kaiaai]

Hello,
I have been playing with your code. Thank you for making it available. It works well in my simulation (living room type) except issue #3, but I have noticed three issues so far in the physical environment:

1. Navigation succeeds, then exploration hangs - even though there are (apparently) plenty of frontiers to explore
   
2. In the middle of, say, 6x6 meter room the code prints "no more frontiers" and stops, even though there is lots of frontiers remaining
3. Often return to the initial pose gets skipped. I've seen it work only once.

Any suggestions how to fix that are most welcome!
Thank you

[16holson]

I am having the same issue, have you been able to fix it?

[kaiaai]

So far no, I haven't had time to debug it.