A* for ROS

This repo is an A* planner compatible with ROS.

Subscribed Topic

• map (nav_msgs/OccupancyGrid)

Service Request

• start (geometry_msgs/Point)

• goal (geometry_msgs/Point)

Service Response

• path (nav_msgs/Path)

Prerequisites

• Ubuntu
• ROS

Tested on Ubuntu 20.04, ROS Noetic.

Getting Started

• Clone this repo in your src directory of ROS workspace.

git clone https://github.com/rohgal/astar_ros.git

• Build

catkin_make

• Launch A* ROS server.

roslaunch astar_ros astar_server.launch