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Hi all, I am using ROS indigo.i am using gmapping to obtain the map.i wrote my A* path planning algorithm in python.someone please help me to integrate this.when i searched link text.But it is written in c++.someone please help..


Originally posted by David John on ROS Answers with karma: 19 on 2016-02-25

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As move_base and thus also the BaseGlobalPlanner interface are written in C++ you can't trivially inject your Python code there. Here are a few options I see:

  • Use the already available A* implementation (see global_planner) and not your own.
  • Manually reimplement in C++ (or try some sort of Python to C++ tool, but I'd expect that to be more of a timesink than anything else)
  • Implement a thin BaseGlobalPlanner plugin that calls your Python planner running in it's own external (rospy) ROS node, for instance via a service call. In that case, the C++ plugin doesn't do more than forwarding the request outside and then forwarding the response via the planner interface.

Originally posted by Stefan Kohlbrecher with karma: 24361 on 2016-02-26

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