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