# Implementation of gloabal path planner for turtlebot

I have been going through this tutorial to use my own implementation of A star as the global planner. However, I want to go one step further. I have use gmapping to obtain a .pgm file of the map I will be using. Now, given a start point and a goal point, I not only want to compute the x,y coordiates of the path, but also find the velocities at each wheel to take me to the goal point, without using move_base. I know this is a solved problem but I need to do it this way for my project. Any help would be appreciated.

Could you provide more details on what you want help with? Are you unsure on how to get started?

@stevejp Yes. I am a little confused. Is the first step implementing my global path planner as a plug in? If so, once I do that, how do i proceed to calculate the velocities on each wheel? and will the final step be just publishing these velocity commands on the correct topic?