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

github链接：

GitHub - goldqiu/Astar-Path-Planner-for-2D-grid-map-in-ROS: A*-Path-Planner-for-2D-grid-map-in-ROS

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

输入输出

launch文件

<launch>
​
  <node pkg="grid_path_searcher" type="demo_node" name="demo_node" output="screen" required = "true">
      <remap from="~waypoints"       to="/waypoint_generator/waypoints"/>
      <param name="mapTopic" type="string" value="/grid_map_global" />
​
  </node>
​
  <node pkg="waypoint_generator" name="waypoint_generator" type="waypoint_generator" output="screen">
      <remap from="~goal" to="/goal"/>
      <param name="waypoint_type" value="manual-lonely-waypoint"/>    
  </node>
​
  <node name="rvizvisualisation" pkg="rviz" type="rviz" output="log" args="-d $(find grid_path_searcher)/launch/rviz_config/demo_wx.rviz" />
​
</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