/astar_ros

Primary LanguageC++

A* for ROS

This repo is an A* planner compatible with ROS.

Subscribed Topic

  • map (nav_msgs/OccupancyGrid)

Service Request

  • start (geometry_msgs/Point)

  • goal (geometry_msgs/Point)

Service Response

  • path (nav_msgs/Path)

Prerequisites

  • Ubuntu
  • ROS

Tested on Ubuntu 20.04, ROS Noetic.

Getting Started

  • Clone this repo in your src directory of ROS workspace.
git clone https://github.com/rohgal/astar_ros.git
  • Build
catkin_make
  • Launch A* ROS server.
roslaunch astar_ros astar_server.launch