The objective of this assignment is to plan a path for a robot from a given starting point to a destination. Create a new package called lab5, and place the world files (playground.pgm and playground.world) from the previous assignment in an appropriate sub-folder. Also provided a file map.txt that roughly represents the given map as an obstacle grid.
The objective of the assignment is simple. Use A-* planning algorithm to find a route from a default start point (-8.0, -2.0) to a default goal (4.5, 9.0). Please read through the tutorial on ROS Parameters. The goal should be defined as two parameters goalx and goaly both of which should be of doubles. This should allow us to set a new goal parameter, and the robot should plan a path to the new goal.
