Thanks for wanderer.py - take a look at how I changed it for my "GoPiGo3 ROSbot Humble Dave"

[slowrunner]

Thank you for putting together your ROS2 wanderer node. I was sure someone had coded this, and I used your wanderer as a base for my GoPiGo3 ROSbot Humble Dave.

My version at https://github.com/slowrunner/HumbleDave/blob/main/ros2ws/src/explorer_wanderer/explorer_wanderer/wanderer.py

Slam_Toolbox Map and localization using wanderer:

https://forum.dexterindustries.com/t/reality-strikes-gopigo3-dave-again/9536/5?u=cyclicalobsessive

Early run video - (now tuned for my YDLIDAR X4 and GoPiGo3 robot with tolerance for "black holes" - black stuff that causes 0.0 ranges):

https://youtu.be/bcxohp6gSgY