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<img height="23" src="https://github.com/lh9171338/Outline/blob/master/icon.jpg"/> Astar

1. Introduction

This repository is a ROS package of A star algorithm implemented by python.

2. Usage

2.1 Subscribed Topics

initialpose (geometry_msgs/PoseWithCovarianceStamped)

Receive the start point via this topic.

move_base_simple/goal (geometry_msgs/PoseStamped)

Receive the target point via this topic.

2.2 Subscribed Services

static_map (nav_msgs/GetMap)

Receive the map via this service.

2.3 Published Topics

inflate_map (nav_msgs/OccupancyGrid)

Publish the inflation map via this topic.

nav_path (nav_msgs/Path)

Publish the navigation path via this topic.

2.4 Parameters

~euclidean (bool, default: "true")

Using Euclidean distance or Manhattan distance When calculating the H value.

~occupyThresh (int, default: -1)

Threshold of the image binarization. When OccupyThresh is less than zero (OccupyThresh < 0), using Otsu method to generate threshold.

~inflateRadius (double, defalut: -1)

InflateRadius is the inflation radius (unit: m). When InflateRadius is less than or equal to zero (InflateRadius <= 0), no inflation operation is taken.

~rate (int, default: 10)

The rate of publishing inflate_map topic.

2.5 Example

roslaunch astar astar.launch

3. Result