1. Introduction

This package can plan path by A star algorithm.

2. Usage

2.1 Subscribed Topics

map(nav_msgs/OccupancyGrid)

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

~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 mask topic.

2.4 Example

roslaunch astar astar.launch

3. Result