README 

-- Functionality This Ros node afford to find an optimal path using A* algorithm, given a map from ros_server, and to publish the inflated map and the optimal path.

-- Usage First start the ROS and rviz for the visualization (all in separate terminal):

roscore

rosrun rviz rviz

rosrun path_planning path_planning

-> if you want to modify the configuration, like the target or the start position, go in main.cpp and modify the USER section

-- File/directory structure In the roboscoop_app directory:

• path_planner: Abstract class that can be reused in the case of path planning task.
• graph_search: Abstract class that can be reused in the case of graph search algorithm.
• A_star_search: Here you can finde the funcion for inflate a map and given 2 or more point the A* algorithm implementation

-- Note for the instructor I didn't use svn, but github for the commit, so if you are interested, please have a look at https://github.com/mafilipp/RPL_individual_2.