hybrid_astar_path_planner

Hybrid A* Path Planner For Ackermann Vehicles

How to run

git clone https://github.com/CihatAltiparmak/hybrid_astar_path_planner.git
cd hybrid_astar_path_planner
docker build . -t hybrid_astar_planner
xhost +
docker run -it --env="DISPLAY=$DISPLAY" --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --env="XAUTHORITY=$XAUTH" --volume="$XAUTH:$XAUTH" --net=host --privileged --runtime=nvidia hybrid_astar bash src/hybrid_astar_path_planner/run_planner_demo.sh

TODO

Planner has not been tuned. It is necessary to tune parameters for planner. The cause of executing slowly maybe can be given rise to map size, cell size etc.
Change map tool from grid_map to costmap
Change specific message format of planner to nav_msgs/Path
Modify planner rviz plugin based on given message format (for above statement)