"Wandering" and "Frontier explorer" behaviors

[Sergei Grichine]

After making the Nav2 BT trees work with  Gesture and Face Detection Sensor, I feel compelled to make my Seggy robot explore his habitat by himself.

Here is what I found so far, trying to find any available packages:

Wandering behavior:
- https://chatgpt.com/s/t_6952a697ae78819191ee7aa3c4f6cf05

- https://github.com/SeanReg/nav2_wavefront_frontier_exploration (original package)
 -- https://github.com/kaiaai/nav2_wfe   (first level fork)
 -- https://github.com/cheriehu/nav2_wfe   (second level fork, seems most viable)

Docking:
- https://github.com/open-navigation/opennav_docking  - "This capability has been migrated within Nav2 itself as of June 2024"

So, does anybody knows any better ways? ROS2 Packages? Any ideas?

Best Regards,

-- Sergei