Astar-JPS-Algorithm-ROS

An cpp implementation of 3D A* and JPS algorithm demo for ROS，more details can be found at

• https://mesywang.github.io/2020/01/23/Dijkstra-and-Astar/
• https://mesywang.github.io/2020/01/26/Jump-Point-Search/

1. Prerequisites

• Ubuntu 64-bit 16.04. ROS Kinetic.
• Eigen

2.Build on ROS

• Clone this repository to your catkin workspace and catkin_make.

  cd ${YOUR_WORKSPACE_PATH}/src
  git clone https://github.com/Mesywang/Astar-JPS-Algorithm-ROS.git
  cd ../
  catkin_make

3. Run the Demo

• Run the rviz with specified configuration.

the path of configuration file：~/catkin_ws/src/grid_path_searcher/launch/rviz_config/demo.rviz

• Launch the package.

  roslaunch grid_path_searcher demo.launch   

　　Normally, you will find a complex randomly generated map in Rviz. The sparsity of obstacles in this map can be tuned in demo.launch. At this time, you can select a goal for the A* or JPS algorithm by using the 3D Nav Goal tool.

• The result

　　You will find two paths. The path formed by black cubes is calculated by the A * algorithm，and another path formed by white cubes is calculated by the JPS. They are different，but they're both optimal.

A* and JPS