Create ROS global planner plugin from Hybrid A Star

zm0612 / Hybrid_A_Star

Hybrid A Star algorithm C++ implementation

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Create ROS global planner plugin from Hybrid A Star #7

Open LotfiZ opened 2 years ago

LotfiZ commented 2 years ago

Hi dear,

Your implementation is amazing ! thank again for your works.

I tried to wrap your code into a ROS global planner plugin to be able to work with navigation stack. I briefly test it with a real forklift (tricycle drive) and it seems working but i don't guarantee the reliability, specially for obstacle checking - it does not use costmap layers-. In addition, the code might not be clean.

Please feel free to comment or to point something wrong !

Thank you

kabi-robot commented 1 year ago

Great job, but yeah it's quite not clean. I think you could split it into small commits.