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The astar_search package#

Running the standalone node with test problems and visualization#

Building the package with ros-test and run it by rosrun: 

catkin build astar_search --catkin-make-args run_tests
rosrun astar_search astar_search-test
Please make sure that roscore is running before running the test.

Inside the test, simulation results were stored in /tmp/result_multi0.txt. Note that the postfix multi or single correspond to multiple curvatures and single curvature cases. Loading these resulting files, by using test/debug_plot.py, one can create plots visualizing the path and obstacles as shown in the figures below. The created figures are then again saved in /tmp with the name like /tmp/result_multi0.png.

sample output figure

The black cells, green box, and red box, respectively, indicate obstacles, start configuration, and goal configuration. The sequence of the blue boxes indicate the solution path.

License notice#

Files src/reeds_shepp.cpp and include/astar_search/reeds_shepp.h are fetched from pyReedsShepp. Note that the implementation in pyReedsShepp is also heavily based on the code in ompl. Both pyReedsShepp and ompl are distributed under 3-clause BSD license.