This is the astar planner plugin for the move_base package, which is the open source navigation stack in ROS.
The astar planner has been implemented using turtlebot3, https://emanual.robotis.com
Add the following parameter in move_base.launch in turtlebot3_navigation package to use the astar planner.
Add <param name="base_global_palnner"value="astar_planner/AstarPlanner" />Astar planner can be checked in Rviz.