How do I implement an A* algorithm for rough environments in ros considering different surface conditions
Hello guys, I’m trying to implement an A* algorithm for rough environments in ros considering different surface conditions ( friction, traction, … ). The environment was constructed by me in blender and integrated into gazebo (can therefore be assumed to be known)The main goal of my algorithm should be that the robot finds the best way to the goal depending on the soil conditions and does not start to slide, for example. I’m just getting started and have done my literature research and wanted to start implementation in the next week. If I understand the algorithm correctly, I have to rasterize the environment (divide it into cells) which can be parameterized. I wanted to ask which package is the best way to do this? Furthermore, the costs of my algorithm should then be different (depending on whether I drive up/down) depending on the steepness. However, it is not yet very clear to me how to implement this in my algorithm. Do you have any tips or suitable Github links for me?
Thank you in advance
The A* piece may actually be the easier part of this.
The final goals you want to achieve with this project are unclear. You mention simulation. Do you want a simulated robot to follow the calculated path, with accurate modeling of wheel friction? How do you plan to control the robot?