Astar-Path-Planner-for-2D-grid-map-in-ROS

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A*-Path-Planner-for-2D-grid-map-in-ROS

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# Astar-Path-Planner-for-2D-grid-map-in-ROS
A*-Path-Planner-for-2D-grid-map-in-ROS

ROS: nav_msgs::OccupancyGrid 格式 二维栅格地图的A星全局规划算法和实现

### 数据集

Astar-Path-Planner-for-2D-grid-map-in-ROS\data\data_2022-09-06-17-21-48.bag

### 运行

```
roslaunch  grid_path_searcher demo.launch
rosbag play data_2022-09-06-17-21-48.bag
```

### 效果

![PIC1](https://raw.githubusercontent.com/goldqiu/Astar-Path-Planner-for-2D-grid-map-in-ROS/main/.\PIC\PIC1.png)

### 输入输出

launch文件

```
<launch>

</node>

</launch>
```

输入：

mapTopic：" /grid_map_global" （二维占据栅格话题）

输出：

nav_msgs::Path："/global_path"  (全局路径点)

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