A-Star-Planning-and-Execution

Objective

The objective of this assignment is to autonomously plan and execute a path for a robot in theStage simulator from a start location to a goal location, given a map. The global plan is given by A*and the local planning is done using a modified Vector Field Histogram (VFH)

Given

1. map.txt - The map of the simulator world described as a 1D array with 0s and 1s
2. playground.pgm - Bitmap image used to describe the obstacles and free space for thestage simulator
3. playground.world - Configuration file for the stage simulator that defines the robot and itsenvironment (using the playground.pgm file)

HOW to RUN

1. Create a new package called ros_pa2
  cd ~/catkin_ws/src
  catkin_create_pkg ros_pa2 std_msgs geometry_msgs rospy roscppcd 
  ~/catkin_wscatkin_makesource 
  ~/.bashrc3.
2. Place the world files (playground.pgm and playground.world) into an appropriate subfolderwithin ​ros_pa2​. (Similar to the ros_pa1 package)
3. Create a launch file called pa2.launch in ~/catkin_ws/src/ros_pa2 to run the stagesimulator using the given world file. 
   You can copy the launch file from PA1 and edit itaccordingly.