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https://github.com/toshikinakamura0412/a_star_ros
ROS implementation of A* search algorithm
https://github.com/toshikinakamura0412/a_star_ros
astar astar-algorithm cpp robotics ros ros-noetic search-algorithm
Last synced: 9 days ago
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ROS implementation of A* search algorithm
- Host: GitHub
- URL: https://github.com/toshikinakamura0412/a_star_ros
- Owner: ToshikiNakamura0412
- License: mit
- Created: 2024-05-03T09:55:58.000Z (9 months ago)
- Default Branch: master
- Last Pushed: 2024-06-22T16:29:58.000Z (7 months ago)
- Last Synced: 2024-11-20T21:58:45.056Z (2 months ago)
- Topics: astar, astar-algorithm, cpp, robotics, ros, ros-noetic, search-algorithm
- Language: C++
- Homepage:
- Size: 102 KB
- Stars: 1
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# a_star_ros
[](https://opensource.org/licenses/MIT)
ROS implementation of A* search algorithm
## Environment
- Ubuntu 20.04
- ROS Noetic
## Install and Build
```
# 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
```
## How to use
```
roslaunch a_star_ros a_star.launch
```
## Running the demo
### Basic
```
roslaunch a_star_ros test.launch
```
### Basic with debug
```
roslaunch a_star_ros test.launch debug_mode:=true
```
### Planning for local map
```
# 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
```
## Node I/O
## Nodes
### a_star_planner
#### Published Topics
- ~\/path (`nav_msgs/Path`)
- planned path
#### Subscribed Topics
- /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
#### Parameters
- ~\/hz (int, default: `2` [Hz]):
- The rate of main loop
- ~\/weight_of_heuristic (float, default: `1.0`):
- The weight of heuristic
- ~\/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.
- ~\/current_node (`geometry_msgs::PointStamped`)
- ~\/open_set (`geometry_msgs::PoseArray`)
- ~\/close_set (`geometry_msgs::PoseArray`)
- ~\/neighbor_nodes (`geometry_msgs::PoseArray`)
- ~\/sleep_time (float, default: `0.01` [s]):
- The sleep time when debug mode
### obstacle_inflater
#### Published Topics
- /map/inflated (`nav_msgs/OccupancyGrid`)
- costmap
- the cells with an occupancy probability of 100 are considered as obstacles
#### Subscribed Topics
- /map (`nav_msgs/OccupancyGrid`)
- costmap
- the cells with an occupancy probability of 100 are considered as obstacles
#### Parameters
- ~\/hz (int, default: `1` [Hz]):
- The rate of main loop
- ~\/inflation_radius (float, default: `0.15` [m]):
- The robot radius
## References
- https://myenigma.hatenablog.com/entry/20140503/1399080847