/Astar-JPS-Algorithm

Implementation of A* and JPS algorithms in ROS

Primary LanguageC++

Astar-JPS-Algorithm-ROS

An cpp implementation of 3D A* and JPS algorithm demo for ROS,more details can be found at

1. Prerequisites

2.Build on ROS

  • Clone this repository to your catkin workspace and catkin_make.
  cd ${YOUR_WORKSPACE_PATH}/src
  git clone https://github.com/Mesywang/Astar-JPS-Algorithm-ROS.git
  cd ../
  catkin_make

3. Run the Demo

  • Run the rviz with specified configuration.

the path of configuration file:~/catkin_ws/src/grid_path_searcher/launch/rviz_config/demo.rviz

  • Launch the package.
  roslaunch grid_path_searcher demo.launch   

Normally, you will find a complex randomly generated map in Rviz. The sparsity of obstacles in this map can be tuned in demo.launch. At this time, you can select a goal for the A* or JPS algorithm by using the 3D Nav Goal tool.

  • The result

You will find two paths. The path formed by black cubes is calculated by the A * algorithm,and another path formed by white cubes is calculated by the JPS. They are different,but they're both optimal.

A* and JPS