The following files have been included in the submission folder.

1. src folder
2. final_submit.py file (Python file, also present in src/turtlebot_astar/scripts/)
3. Video of simulation
4. Readme file

Instructions for creating ROS catkin_workspace: Run these commands in the terminal to create ROS workspace

1. source /opt/ros/kinetic/setup.bash
2. mkdir -p catkin_ws/src 3.cd catkin_ws/

unzip the submitted file and paste the src in the catkin_ws folder

The python file is in the src/script folder. To make the script an executable file, perform step 4 : 4. chmod +x final_submit.py 5. catkin_make 6. source devel/setup.bash 7. export TURTLEBOT3_MODEL=waffle 8. roslaunch astar_differential astar.launch x_pos:=0.0 y_pos:=0.0 (Here x and y are in gazebo coordinate frame) I.e. if start coordinates in generated map is at (955, 505) , we spawn the robot at x_pos:= 4.0 and y_pos:=0.0