Diffrential A* algorithm

---

Overview

C++ project to explore node using A* algorithm with diffrential constraint

Results

• Fig showing the map exploration using A* algorithm.

• Fig showing the gazebo simulation for the explored map

Coordianate Axis

The coordinate axis is changed from the center of the map to the bottom left corner.

Dependencies

This project uses the following packages:

1. ROS Kinetic
2. Ubuntu 16.04
3. Packages Dependencies:

• Turtlebot3 ROS packages
• roscpp
• rospy
• std_msgs
• geometry_msgs

Install ROS turtlebot3 dependent packages:

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers ros-kinetic-hector-mapping

For Turtlebot3 packages follow the following steps:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash
cd src/
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
cd ..
catkin_make

• Sourcing

Open your bashrc file

gedit ~/.bashrc

Type the following in your bashrc file:

Replace <IP> with your systems IP address

source /opt/ros/kinetic/setup.bash
source ~/catkin_ws/devel/setup.bash
export ROS_MASTER_URI=http://<IP>:11311
export ROS_HOSTNAME=<IP>
export TURTLEBOT3_MODEL=waffle

save and close the bashrc file and source it source ~/.bashrc

• Build Instruction

unzip the files to this location </catkin_ws/src/>

and then run following command in the terminal

cd ~/catkin_ws/src/
cd ..
catkin_make

Run Instruction

open terminal and type the following command :

roslaunch frontier_exploration_turtlebot diffrential.launch

Once the exploration is completed launch gazebo using this command line in new terminal:

roslaunch frontier_exploration_turtlebot gazebo.launch

Press enter on the terminal to see simulation on gazebo