Description

Implementation of A* Graph Search Algorithm for a 2D Path Planning Problem with ROS

Installation

This implementation is done as a catkin package, so it can be easly compiled with

  catkin_make
  catkin build

I strongly recommend building the package with "-DCMAKE_BUILD_TYPE=Release" flag to increase the efficiency.

Usage

For the demostarition a ros node that subscribes to

/map
/initialpose
/move_base_simple/goal

and publishes

/inflated_map
/optimal_path

is created. One can use the rviz navigation tools to set "/initialpose" and "/move_base_simple/goal".

To run the demo, run the following command after sourcing the catkin workspace

roslaunch astar astar.launch

Example