how to run d-star path planning on my own map

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I am trying to create a smiple map in ros. The task is to create a map with obstacles and then run the d-star algorithm on it to se how it works. I wold like to se the path in the GUI of the robot simulaor. I can not figure out how to do this. Is it posible to use turtlesim for this?

I have the d-star algorithm in a c file, so i need to compile and run this on the ros simulator, how is this done?

I will appricate any answers, i am new to ubuntu and ros programs.