AStar Smooth Planner (ROS2 Jazzy)

As the name implies, this is an imporved AStar Planner That produces straight smoothened path with minimal turns. it is optimized for getting the shortest possible path. It builds on the AStar Algorithm

Setup the AStar Smooth Planner

• ensure you have created your ros workspace
• clone and install the MoboBot Robot Package to Test the Planner

  git clone -b jazzy https://github.com/robocre8/mobo_bot.git

• clone the a_star_smooth_planner package

  git clone https://github.com/samuko-things/a_star_smooth_planner.git

NOTE: you might need to make the a_star_planner.py and a_star_smoother.py executable

• cd into the root directory of your ros workspace and run rosdep to install all necessary ROS package dependencies

  rosdep update
  rosdep install --from-paths src --ignore-src -r -y

• Build your mobo_bot_ws

  colcon build --symlink-install

Test the AStar Smooth Planner

• start the MoboBot simulation (don't forget to source your ros workspace)

  ros2 launch mobo_bot_sim sim.launch.py

• start the a_star_smooth_planner with pure_pursuit controller and some navigation.

  ros2 launch a_star_smooth_planner nav_test.launch.py

• use the 2D GoalPose button in RVIZ to move the robot from point to point and see the planner at work.

📚 Resources:

• Self-Driving Planning Course by Antonio Brandi
• Improved AStar by Dr. Oluwaseun Martins
• MoboBot – developed by me under robocre8