# astar_plugin

**Repository Path**: tanggujie/astar_plugin

## Basic Information

- **Project Name**: astar_plugin
- **Description**: 通过Astar算法实现自己的全局路径规划插件
- **Primary Language**: C++
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: https://blog.csdn.net/qq_45369294?spm=1000.2115.3001.5343
- **GVP Project**: No

## Statistics

- **Stars**: 6
- **Forks**: 0
- **Created**: 2022-05-05
- **Last Updated**: 2025-04-10

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# astar_plugin

### 介绍
通过Astar算法实现自己的全局路径规划插件

### 插件说明

参考本文博客:https://blog.csdn.net/qq_45369294/article/details/124597040?spm=1001.2014.3001.5501

### 插件启动

指令

```
roslaunch astar_plugin start_plugin.launch
```

效果

**时刻1**

![Image text](https://gitee.com/tanggujie/astar_plugin/raw/master/image/%E8%BF%90%E8%A1%8C1.png)

**时刻2**

![Image text](https://gitee.com/tanggujie/astar_plugin/raw/master/image/%E8%BF%90%E8%A1%8C2.png)

**时刻3**

![Image text](https://gitee.com/tanggujie/astar_plugin/raw/master/image/%E8%BF%90%E8%A1%8C3.png)

### 注意事项

 **Ubunt16.04** turtlebot1代功能包安装直接通过二进制即可

```shell
sudo apt-get install ros-kinetic-turtlebot-*
#其实就是缺啥包安装哪个就行
```

**Ubuntn18.04** 由于二进制安装的turtlebot为turtlrbot2，代码并不能通用，因此需要通过源码安装turtlebot，网上有很多方法，但是比较费事，现在推荐一款较方便的方法.[ROS Melodic安装、配置和使用turtlebot2（集成众多源代码直接下载](https://blog.csdn.net/lj164567487/article/details/120256120)

```shell
#1.安装依赖包
sudo apt-get install ros-melodic-kobuki-*
sudo apt-get install ros-melodic-ecl-streams
sudo apt-get install libusb-dev
sudo apt-get install libspnav-dev
sudo apt-get install ros-melodic-joystick-drivers
sudo apt-get install bluetooth
sudo apt-get install libbluetooth-dev
sudo apt-get install libcwiid-dev
sudo apt-get install ros-melodic-bfl
#2.编译安装，turtlebot_ws为工作空间
git clone https://gitee.com/massif_li/turtlebot_ws.git
cd turtlebot_ws
catkin_make
```

可能遇到的问题

> 问题1：Failed to load nodelet [/navigation_velocity_smoother] of type [yocs_velocity_smoother/VelocitySmootherNodelet] even after refreshing the cache: According to the loaded plugin descriptions the class yocs_velocity_smoother/VelocitySmootherNodelet with base class type nodelet::Nodelet does not exist.

解决方法:

```shell
sudo apt-get install ros-melodic-yocs-velocity-smoother
```

参考:原文链接：https://blog.csdn.net/gloria_littlechi/article/details/107402856
https://blog.csdn.net/gloria_littlechi/article/details/107402856



> 问题2：出现ImportError: No module named scipy

解决方法:

```shell
sudo apt-get install python-scipy
```


参考:https://blog.csdn.net/qq_41204464/article/details/103575669



> 问题3：若运行出现amcl、map_server、move_base等包的缺失，则直接通过二进制安装即可