A* ALGORITHM BASICS FOR PATH FINDING A* , widely used known form of best-first search & path planning algorithm nowadays in mobile robots,games. this is the function for A*, f(n) = g(n) + h(n) g ( n ) is the cost of the path from the start node to n , and h ( n ) is a heuristic function that estimates the cost of the cheapest path from n to the goal This will find cheapest f(n) value in neighbor nodes to archive goal node. check below image A to B path finding with g(n),h(n),f(n) value In the final level check below image Now we will check the Algorithm // A* Search Algorithm 1. Initialize the open list 2. Initialize the closed list put the starting node on the open list (you can leave its f at zero) 3. while the open list is not empty a) find the node with the least f on the open list, call it "q" b) pop q off the open list c) generate q's 8 successors
let see how make one c++ file as executable or make it compile in ros environment let create one package call test so we will add test1.cpp to compile, then we have to change in 3 place in cmakelist.txt file here test1.cpp we named this executable as test1 add_executable(test1 src/test1.cpp) add_dependencies(test1 ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) target_link_libraries(test1 ${catkin_LIBRARIES} ) these r the main changes we need to do in cmakelist. if we need to add another c++ file then let see that's all lets compile for more details just check below video