ROS Robotics: A* Pathfinding
Source code: astar.cpp
A fairly straight-forward implementation of A* pathfinding using ROS. The robot has a hardcoded goal, which can be updated on-the-fly using rosparam. The cells are created using an occupancy at a set resolution. Since the map is known, the resolution is predetermined - however if needed the map can be further decomposed if a path isn't found.