Path planning using A* algorithm and implementation on turtlebot waffle in Gazebo simulation.

• Ji Liu - 112960186 ([email protected])
• Yi-Chung Chen - 119218990 ([email protected])

• numpy
• matplotlib
• multiprocessing
• heapq
• argparse

Clone the repo

git clone https://github.com/ychen921/a-star-path-planning.git

Create a workspace

mkdir -p project3_ws/src

Move the ROS package turtlebot3_project3 to the project3_ws/src directory

User Inputs

• --StartNode {x_y coordinate}: Start point coordinate (default: 500_1000)
• --GoalNode {x_y coordinate}: Goal point coordinate (default: 5750_1000)
• --Ori {Degree}: The orientation of the Robot at the start point (default: 0)
• --rpm1 {Wheel’s RPM}: Left Wheel's RPM (default: 20.0)
• --rpm2 {Wheel’s RPM}: Right Wheel's RPM (default: 40.0)
• --rr {clearance}: Clearance in mm (default: 220)

To run the default config of astar_sim.py, use this command

python3 astar_sim.py

The following command represents an example of the setting of every user input

python3 astar_sim.py --rpm1 50.0 --rpm2 100.0 --StartNode 200_200 --GoalNode 5750_500 --Ori 30 --rr 50

Source ROS

source install/setup.bash

Build the workspace

cd project3_ws
colcon build --packages-select turtlebot3_project3

Launch Environment

ros2 launch turtlebot3_project3 competition_world.launch.py

To run the ROS node, you can use the vel_publisher.py for the following:

ros2 run turtlebot3_project3 vel_publisher.py

To adjust the goal point, use --GoalNode to set the point. Here is an example:

ros2 run turtlebot3_project3 vel_publisher.py ---GoalNode 5750_500

• A* Visualization
• Gazebo Simulation