Astar_algorithm

Astar and JPS algorithm 3D in ROS

1.Prerequisities

• ubuntu 16.04, ROS Kinetic.

2.Build on ROS

Clone the repository to your catkin workspace and catkin_make. For example:

    cd ~/catkin_ws/src
    git clone https://github.com/HandsomeTong66/Astar_algorithm.git
    cd ../
    catkin_make
    source ~/catkin_ws/devel/setup.bash

3.Usage

Execute command in terminal:

    roscore

ctrl+shift+t,Open a new page terminal and execute the following commands:

    rviz

Click to add configuration file (open Config), the configuration file path is: ~/catkin_ws/src/grid_path_searcher/launch/rviz_config/demo.rviz

In rviz, click 'Panels -> tools -> +' and select the plugin 3D Nav Goal.
If you have done all above, you can try the simple simulation.

    roslaunch grid_path_searcher demo.launch

you can select a goal for the Astar or JPS algorithm by using the 3D Nav Goal tool.Gray color is Astar and black is JPS.

4.Reference

深蓝学院 —— Motion Planning for Mobile Robots