# D\* (D-Star) Trajectory Planner package - Initial Code Release

**URL:** <https://discourse.openrobotics.org/t/d-d-star-trajectory-planner-package-initial-code-release/36888>\
**Category:** Navigation\
**Tags:** navigation, noetic\
**Created:** [March 28, 2024, 2:52pm UTC](https://discourse.openrobotics.org/t/d-d-star-trajectory-planner-package-initial-code-release/36888 "2024-03-28T14:52:14Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![twdragon](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/twdragon/32/4772_2.png) [@twdragon](https://discourse.openrobotics.org/u/twdragon)\
**Post date:** [March 28, 2024, 2:52pm UTC](https://discourse.openrobotics.org/t/d-d-star-trajectory-planner-package-initial-code-release/36888/1 "2024-03-28T14:52:14Z")

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Dear ROS enthusiasts and contributors!

The package implementing [D-Star Informed Incremental Search Algorithm](https://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.15.3683) as a trajectory planner over [`move_base`](http://wiki.ros.org/move_base) navigation stack has its initial release on Github! Please check this dirty code and the [corresponding wiki page](https://wiki.ros.org/action/quicklink/dstar_trajectory_planner). The plugin is equipped with some documentation, but it still requires a lot of polishing and any help is encouraged!

[https://github.com/ElettraSciComp/DStar-Trajectory-Planner](https://github.com/ElettraSciComp/DStar-Trajectory-Planner)