Kinodynamic A* Global Planner for TurtleBot3 (ROS2 Humble)

A custom Nav2 global planner plugin implementing kinodynamic A* algorithm with B-spline path smoothing for TurtleBot3 navigation in Gazebo simulations.

Prerequisites

• ROS 2 Humble (installation instructions)
• Gazebo Classic
• TurtleBot3 packages
• Nav2 package

Installation

1. Clone this repository in your src folder
2. Build package using colcon build command
3. Source the environment using source install/setup.bash

Usage

1. Launch simulation environment: ros2 launch nav2_bringup tb3_simulation_launch.py params_file:=/path/to/your_params.yaml

• Use argument headless:=False to start gazebo simulation.
• A sample parameter file is given in the repository.

2. Give a 2D Pose Estimate.
3. Give a Nav2Goal.

Troubleshooting

• Plugin not Found: Ensure the package is properly sourced.
• Simulation not starting: Before using the package flollow steps given at (getting started)

Known Issues

• currently the panning algorithm is too sensitive to initial pose estimate.
• aborts on longer path plans.