Package contains test world with built map, launch files to start mapping, launch amcl or A*. To create new map:
roslaunch goto_mover mapping.launch
To launch A* planner separately on the map run:
rosrun goto_mover planner.py
To launch program to control standard amcl path planner run:
roslaunch goto_mover goto_amcl.launch
To launch program to control A* path planner run:
roslaunch goto_mover goto_astar.launch