Add a-star based global planner

mg_msgs/CMakeLists.txt

@@ -10,13 +10,16 @@ find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/Path.msg"
   "msg/Point2d.msg"
   "msg/TEdit.msg"
   "msg/TEditCycle.msg"
+  "action/MoveGlobal.action"
   "action/MoveStraight.action"
   "action/MovePoint.action"
   "action/LookAt.action"
   "action/Rotate.action"
+  "srv/CalcPath.srv"
   "srv/SendDouble.srv"
 )
 

mg_msgs/action/MoveGlobal.action

@@ -0,0 +1,25 @@
+float64[] x 
+float64[] y 
+
+float64 step 0.01
+float64 tolerance 0.5
+float64 max_wheel_speed 3
+float64 max_angular 3.14
+float64 max_vel 2
+float64 pos_mult 15
+float64 ornt_mult 4
+float64 t_ornt_mult 0.1
+float64 obst_mult_a -5
+float64 obst_mult_b -30
+float64 obst_mult_c -9
+string[] ignore_tags []
+---
+uint8 SUCCESS=0
+uint8 BLOCKED=1
+uint8 TIMEOUT=2
+uint8 MISALIGNED=3
+uint8 UNKNOWN=254
+
+uint8 error
+---
+float64 distance_passed

mg_msgs/msg/Path.msg

@@ -0,0 +1 @@
+int32[] indicies

mg_msgs/srv/CalcPath.srv

@@ -0,0 +1,4 @@
+float64[] x
+float64[] y
+---
+int32[] indicies