A* Path Planner

Astar demo in ROS Rviz

Prerequisition

Install package

$ sudo apt install ros-${ROS_DISTRO}-map-server

How to use

1. Clone Package

$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ git clone https://github.com/zang09/AStar-ROS.git

2. Build Package

$ cd ..
$ catkin_make
$ source ~/catkin_ws/devel/setup.bash

3. Launch packages

$ roslaunch path_generator run.launch

4. Send goal pose by rviz tool 2D Nav Goal