Controlling a Turtlebot in ROS and implemented path planning using the A-Star algorithm
The TurtleBot kit consists of a mobile base, 2D/3D distance sensor, laptop computer or SBC(Single Board Computer), and the TurtleBot mounting hardware kit.
- Place Part2 inside catkin_ws/src
- catkin_make from root
- source devel/setup.bash
- execute
roslaunch astar_turtlebot3 demo.launch x_pos:=-4 y_pos:=-4 theta:=0 x_pos_f:=4 y_pos_f:=4 clearance:=2 rpm1:=60 rpm2:=55
📦A-Star-Turtlebot
┣ 📂launch
┃ ┗ 📜demo.launch
┣ 📂maps
┃ ┗ 📜map.world
┣ 📂scripts
┃ ┣ 📂__pycache__
┃ ┣ 📜AStar.py
┃ ┣ 📜Config.py
┃ ┣ 📜RRTStarFN.py
┃ ┣ 📜bidirectionalRRTStarFND.py
┃ ┣ 📜controller.py
┃ ┗ 📜utils.py
┣ 📜CMakeLists.txt
┣ 📜README.md
┗ 📜package.xml