a_star_planner

This package implements the A* star path-planning algorithm in c++ and integrate with the ROS environment.

More information on A* algorithm: https://en.wikipedia.org/wiki/A*_search_algorithm

To reproduce:

• Run roscore in one window of the terminal

roscore

• Run map server

cd map
rosrun map_server map_server map.yaml

• Run the rosbag (Credits: KAIST Unmanned System Research Group)

rosbag play --pause Gridmap_and_points.bag
# you can start and pause as needed then

• Run the a* path planner node

rosrun a_star_planner a_star_planner_node

• Set goal pose using RVIZ 2D Nav Goal tool.