Replacing PCD files with a map

[hassanjardali]

Thank you for this work, I was able to run the algorithm. However, I was wondering how can I use my own map and robot to run this planner ? what should I do if I don't have a pre-built map? (I have a robot equipped with a LiDAR)

[elonv]

@hassanjardali how did you manage to tackle the issue A* search failed ?

[hassanjardali]

I was trying goals that aren't so far of the robot. I was publishing the goals sequentially.

[elonv]

You did not changed any code? Because with rqt_graph I saw few topics are unconnected.

[breezebromine]

did you solve this problem ? l tested the code, it showed the A* search failed.