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A* Global Planner Plugin for ROS

Shell 0.22% C++ 16.81% Python 20.37% C 1.03% Objective-C 0.06% Java 0.08% Common Lisp 3.98% MATLAB 0.01% EmberScript 0.05% Makefile 41.31% NewLisp 0.26% CMake 15.82% Batchfile 0.01%

astar_plugin_ros's Introduction

A* Global Planner Plugin for ROS

Developed on ROS Indigo and using C++

Follow steps below to run the plugin on the system:

  1. Install turtlebot on ROS Indigo(or follow similar steps for other ROS versions ) as below: http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation

  2. Clone the repository to your desktop

  3. roscd to turtlebot_navigation package. Add following line in your move_base.launch.xml file under launch/includes(you may need to sudo): <param name="base_global_planner" value="astar_plugin/AStarPlanner"/>

  4. Copy the files in map folder under astar_planner ros package from the cloned reposiory to the path below:

    /opt/ros/<distro>/share/turtlebot_stage/maps

  5. Type the following to launch stage and rviz with loaded map and turtlebot:

    roslaunch turtlebot_stage turtlebot_in_stage.launch

  6. Now click on β€œ2D nav goal” button (at the top) in rviz and choose a goal location. You can now see your robot moving to its goal.

NOTE: Sometimes error can come while launching turtlebot_stage due to incorrect path of amcl launch file. This is known error. "opt/ros/indigo/share/turtlebot_navigation/launch/includes/amcl.launch.xml: Invalid roslaunch XML syntax: [Errno 2] No such file or directory: u'/opt/ros/indigo/share/turtlebot_navigation/launch/includes/amcl.launch.xml'"

For this we will have to open turtlebot_in_stage.launch from turtlebot_stage package (might require sudo) and change the following :

<include file="$(find turtlebot_navigation)/launch/includes/amcl.launch.xml" > to: <include file="$(find turtlebot_navigation)/launch/includes/amcl/amcl.launch.xml">

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