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adding A* path planning algorithm as plugin

asked 2016-02-25 22:32:12 -0500

David John gravatar image

Hi all, I am using ROS indigo.i am using gmapping to obtain the map.i wrote my A* path planning algorithm in python.someone please help me to integrate this.when i searched link text.But it is written in c++.someone please help..

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answered 2016-02-26 01:24:09 -0500

As move_base and thus also the BaseGlobalPlanner interface are written in C++ you can't trivially inject your Python code there. Here are a few options I see:

  • Use the already available A* implementation (see global_planner) and not your own.
  • Manually reimplement in C++ (or try some sort of Python to C++ tool, but I'd expect that to be more of a timesink than anything else)
  • Implement a thin BaseGlobalPlanner plugin that calls your Python planner running in it's own external (rospy) ROS node, for instance via a service call. In that case, the C++ plugin doesn't do more than forwarding the request outside and then forwarding the response via the planner interface.
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Asked: 2016-02-25 22:32:12 -0500

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Last updated: Feb 26 '16