Name: Akhilrajan Vethirajan
Uid: 117431773

Name: Vishaal Kanna Sivakumar
Uid: 117764314

1. Download repository and build your catkin workspace.
2. Requirements:

• numpy
• matplotlib
• heapq
• rospy
• geometry_msgs (Twist())
• time

3. The launch folder contains the Gazebo-Turtlebot3 launch folder
4. The A* planner is in the nodes directory
5. All outputs are in the outputs sub directory
6. To run Part 1, go to part_1 directory and run the python script.
7. Make sure the script is executable (chmod +x <python_script_name>)

8. open a new terminal and run,

   roslaunch astar astar_gazebo.launch

9. To run the Gazebo simulation, in a new terminal run:

   roslaunch astar turtlebot3.launch

10. In another terminal run the A* planner using,

rosrun astar path_planner.py

11. Please keep the initial positions as follows:

X: 100
Y: 950
Theta: 0

Note: Robot runs best when RPM1=30 and RPM2=40

Start X = 100
Start Y = 900
Start Theta = 0

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Goal X = 450
Goal Y = 800

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RPM1 = 30
RPM2 = 40

Start X = 100
Start Y = 950
Start Theta = 0

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Goal X = 800
Goal Y = 950

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RPM1 = 30
RPM2 = 40