二位激光slam全局规划路径A*改进算法，通过配置参数实现点到点中间无障碍物规划直线出直线路径

cmake_minimum_required(VERSION 3.0.2) project(global_planner) find_package(catkin REQUIRED COMPONENTS angles costmap_2d dynamic_reconfigure geometry_msgs nav_core navfn nav_msgs pluginlib roscpp tf2_geometry_msgs tf2_ros ) generate_dynamic_reconfigure_options( cfg/GlobalPlanner.cfg ) catkin_package( INCLUDE_DIRS include LIBRARIES ${PROJECT_NAME} CATKIN_DEPENDS costmap_2d dynamic_reconfigure geometry_msgs nav_core navfn nav_msgs pluginlib roscpp tf2_ros ) include_directories( include ${catkin_INCLUDE_DIRS} ) add_library(${PROJECT_NAME} src/quadratic_calculator.cpp src/dijkstra.cpp src/astar.cpp src/grid_path.cpp src/gradient_path.cpp src/orientation_filter.cpp src/planner_core.cpp ) add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES}) add_executable(planner src/plan_node.cpp ) add_dependencies(planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) target_link_libraries(planner ${PROJECT_NAME} ${catkin_LIBRARIES} ) install(TARGETS ${PROJECT_NAME} ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}) install(TARGETS planner RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) install(DIRECTORY include/${PROJECT_NAME}/ DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} PATTERN ".svn" EXCLUDE) install(FILES bgp_plugin.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})