ROS implementation of A* search algorithm
- Ubuntu 20.04
- ROS Noetic
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/a_star_ros.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic # Install dependencies
catkin build a_star_ros -DCMAKE_BUILD_TYPE=Release # Release build is recommended
roslaunch a_star_ros a_star.launch
roslaunch a_star_ros test.launch
roslaunch a_star_ros test.launch debug_mode:=true
# clone repository
cd /path/to/your/catkin_ws/src
git clone https://github.com/ToshikiNakamura0412/raycast_mapping_ros.git
git clone https://github.com/ToshikiNakamura0412/scan_to_pcl_ros.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone -b noetic-devel https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
# build
cd /path/to/your/catkin_ws
rosdep install -riy --from-paths src --rosdistro noetic
catkin build -DCMAKE_BUILD_TYPE=Release
# run demo
export TURTLEBOT3_MODEL=burger
roslaunch a_star_ros test.launch use_local_map:=true
- ~<name>/path (
nav_msgs/Path
)- planned path
- /initialpose (
geometry_msgs/PoseWithCovarianceStamped
)- start pose
- /map (
nav_msgs/OccupancyGrid
)- costmap
- the cells with an occupancy probability of 100 are considered as obstacles
- /move_base_simple/goal (
geometry_msgs/PoseStamped
)- goal pose
- ~<name>/hz (int, default:
2
[Hz]):
- The rate of main loop
- ~<name>/weight_of_heuristic (float, default:
1.0
):
- The weight of heuristic
- ~<name>/debug_mode (bool, default:
false
):
- If this mode is used, you should set this parameter to true.
- if this mode is used, following topics is published.
- ~<name>/current_node (
geometry_msgs::PointStamped
) - ~<name>/open_set (
geometry_msgs::PoseArray
) - ~<name>/close_set (
geometry_msgs::PoseArray
) - ~<name>/neighbor_nodes (
geometry_msgs::PoseArray
)
- ~<name>/current_node (
- ~<name>/sleep_time (float, default:
0.01
[s]):
- The sleep time when debug mode
- /map/inflated (
nav_msgs/OccupancyGrid
)- costmap
- the cells with an occupancy probability of 100 are considered as obstacles
- /map (
nav_msgs/OccupancyGrid
)- costmap
- the cells with an occupancy probability of 100 are considered as obstacles
- ~<name>/hz (int, default:
1
[Hz]):
- The rate of main loop
- ~<name>/inflation_radius (float, default:
0.15
[m]):
- The robot radius