RBE 3002 code, group A Stars

run

roslaunch turtlebot_bringup minimal.launch
and
roslaunch turtlebot_navigation gmappping_demo.launch

open rviz with rviz/exploration.rviz configuration

in separated terminals, run:

run

python src/astar/astar.py
and
python src/exploration/exploration.py

There are two launch files and some maps to simulate in Stage and Gazebo. It works as it is if it's inside a package called a_star. Otherwise you'll need to do small adaptions

• Improve costmap update
• Organize it better

If you use this code in your project, please include it in your references