# Autonomous Exploration / Mapping

**URL:** <https://forum.hello-robot.com/t/autonomous-exploration-mapping/706>\
**Category:** Ask\
**Created:** [May 11, 2023, 12:54pm UTC](https://forum.hello-robot.com/t/autonomous-exploration-mapping/706 "2023-05-11T12:54:49Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![roboor](https://avatars.discourse-cdn.com/v4/letter/r/3bc359/32.png) [@roboor](https://forum.hello-robot.com/u/roboor)\
**Post date:** [May 11, 2023, 12:54pm UTC](https://forum.hello-robot.com/t/autonomous-exploration-mapping/706/1 "2023-05-11T12:54:49Z")

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Hi guys,

The first step of my project requires the robot to map the room autonomously. With my relatively fresh experience in robotics, I hoped to find this feature included in the Stretch Robot as well.

So far, I have understood that the Gmapping via stretch\_navigation and the FUNMAP both are done via teleoperation first and then autonomous navigation is possible. I mention both packages since I will need the map as well as the 3D model that FUNMAP creates later on.

Has anyone extended the funmap or the stretch\_navigation to allow autonomous creation of the map? If so, kindly share your work or approach!

Best regards,  
Noor

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [May 15, 2023, 8:20am UTC](https://forum.hello-robot.com/t/autonomous-exploration-mapping/706/2 "2023-05-15T08:20:36Z")

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Hi @roboor, FUNMAP actually does have the ability to autonomously explore the environment. From the [quick start guide](https://github.com/hello-robot/stretch_ros/tree/dev/noetic/stretch_funmap#getting-started-demo):

> You can also have the robot automatically drive to a place that it thinks is a good place for it to take a head scan in order to map the environment.
> 
> ```auto
> While in the terminal, press the key with \ and | on it. 
> This should work even if caps lock is enabled or the shift key is pressed. 
> 
> ```

I’d give this a try to see how well it works for you, as the [source code](https://github.com/hello-robot/stretch_ros/blob/e7ba967505d0f39afa301bbd4e915fb50d65ddbd/stretch_funmap/nodes/funmap#L517-L522) may need some tweaking to get it to run reliably.