better_astar_global_planner

The better A* global planner plugin in ROS

Tutorials : https://www.bilibili.com/video/BV1U44y137dc?spm_id_from=333.999.0.0

Ubuntu 18.04

ros melodic

Install:

cd demo_ws/src
git clone git@github.com:Grizi-ju/better_astar_global_planner.git
cd ..
catkin_make
source devel/setup.bash

How to use:

1.place the simulation environment in the same src directory：

2.open the file move_base.launch and add the new planner as parameters of the global planner, as follows:

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen" clear_params="true">
  <param name="base_global_planner" value="BAstar_planner/BAstarPlannerROS"/>

BAstar_planner/BAstarPlannerROS is the name of plugin

3.run

roslaunch mbot_gazebo view_mbot_with_laser_gazebo.launch
roslaunch mbot_navigation exploring_slam_demo.launch

Test:

Reference:

http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS

https://www.youtube.com/watch?v=We1gGDXAO_o

https://www.youtube.com/watch?v=t4A_niNlDdg

https://github.com/coins-lab/relaxed_astar