Why A* NAV2 in 2023 - VTAstrobotics/Documentation GitHub Wiki

Objective: To explain a design choice Contents

Prerequisites

A liking of the past

We chose A* since it was implemented already in the ROS2 navigation stack to generate paths that avoid obstacles. Also by using Nav2, we can change from A* to something else easily because of the node-based structure. This allows greater flexibility in the design. Additionally, using Nav2 means that the software we are using is already tested and made meaning we only need to make parts that add the functionality we need, less reinventing the wheel.