path_finding

Path Finding

The path_finding_node.py uses a service that retrieves the updated map given by RTABMAP and implements this python library to compute the fastest path to the current goal.

Subscribers

• goal ([geometry_msgs/PoseStamped])

  The current goal.

• get_map ([geometry_msgs.srv/GetMap])

  Service to request the map.

Publishers

• path_image ([sensor_msgs/Image])

  The image to vizualize the map.

• path ([nav_msgs/Path])

  The path to the current goal

Parameters

• algorithm ([String])

  Path finding algorithm (A*, dijkstra, etc ...)

Demos

Basic Usage

If you already have RTABMAP running you can use the following command

  roslaunch path_finding path_finding.launch

Its possible to launch this node with RTABMAP mapping, just add the following argument to the mapping launch file, with_path_finding:=true .

  roslaunch mapping opensource-tracking.launch with_path_finding:=true