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Hello,
How can I change the default Global Planner (Dijkstra) to A* or SBPL.
The tutorial says for example: "The global planner can be used with move_base simply by setting the "base_global_planner" parameter to "SBPLLatticePlanner"".
Where can I set "base_global_planner" parameter?
Thanks
As you have mentioned, move_base has a parameter called "base_global_planner" that you can set to whichever planner you want to use. You can do this in the launchfile that launches move_base by adding the following line:
<param name="base_global_planner" value="your_planner_name"/>
The planner has to be of the type nav_core::BaseGlobalPlanner. You can alternatively supply the parameter from the command line as mentioned here.
Could you check this page ( http://answers.ros.org/question/17130... ) ? This article might be useful for you.
Asked: 2014-07-29 18:46:13 -0600
Seen: 2,173 times
Last updated: Jul 29 '14
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