This repository contains a 3D A* path planning algorithm that is simulated using ROS and CoppeliaSim.

• Prerequisites
• Getting Started
• How the Code Works
• Results

Before you can run this code, make sure you have the following installed on your Ubuntu system:

1. ROS (Robot Operating System)
2. CoppeliaSim - Download the appropriate version for your system.
3. Python libraries: numpy, math

Follow these steps to set up and run the code:

1. Clone this repository and navigate to your workspace:

   mkdir -p ~/pathplanning/src
   cd ~/pathplanning
   catkin_init_workspace
   cd pathplanning/src
   catkin_create_pkg a_star_pathplanning std_msgs rospy
   cd pathplanning
   catkin build a_star_pathplanning
   source devel/setup.bash
   cd pathplanning/src/a_star_pathplanning
   mkdir scripts
   cd scripts

2. Paste the a_star.py file in the scripts directory and make it executable:

   sudo chmod +x a_star.py

3. Open a new terminal and add the following line to your ~/.bashrc to avoid sourcing the workspace every time:

   echo "source ~/pathplanning/devel/setup.bash" >> ~/.bashrc

4. Start a ROS core in a new terminal:

   roscore

5. Open CoppeliaSim using the following commands:

   cd CoppeliaSim_Edu_V4_3_0_Ubuntu20_04/
   ./coppeliaSim.sh

   CoppeliaSim should open.

6. Load the scene A_star_simulation_map.ttt in CoppeliaSim.

7. Run the scene in CoppeliaSim.

8. Open a new terminal and run the following command to execute the Python script:

   rosrun a_star_pathplanning a_star.py

The code works by creating a 3D array map to represent walkable and non-walkable areas (e.g., map[x, y, z] = 0 or 1). After defining the map, two random points are chosen as start and end points. The algorithm follows this flowchart:

Here are some visual results of the path planning algorithm: