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<img height="23" src="https://github.com/lh9171338/Outline/blob/master/icon.jpg"/> Dijkstra
1. Introduction
This repository is a ROS package of Dijkstra algorithm.
2. Usage
2.1 Subscribed Topics
Receive the map via this topic.
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 Published Topics
mask(nav_msgs/OccupancyGrid)
Publish the inflation map(mask) via this topic.
nav_path(nav_msgs/Path)
Publish the navigation path via this topic.
2.3 Parameters
~Diagonal(bool; default: "true")
Whether can go through the diagonal. When Diagonal is true, serching for 8 neighborhoods, or serching for 4 neighborhoods.
~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 mask topic.
2.4 Example
roslaunch dijkstra dijkstra.launch
3. Result
