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global_planner provides an implementation of a fast, interpolated global planner for navigation. This class adheres to the nav_core::BaseGlobalPlanner interface specified in the nav_core package.

use_dijkstra is one of the parameters of this global_planner


move_base is also part of Navigation stack but it provides an implementation of an action (see the actionlib package) that, given a goal in the world, will attempt to reach it with a mobile base. The move_base node links together a global and local planner to accomplish its global navigation task. It supports any global planner adhering to the nav_core::BaseGlobalPlanner interface.


For turtlebot3 implementation, take a look at this example: Notice the initial parameters:

GlobalPlanner:                                  # Also see:
  old_navfn_behavior: false                     # Exactly mirror behavior of navfn, use defaults for other boolean parameters, default false
  use_quadratic: true                           # Use the quadratic approximation of the potential. Otherwise, use a simpler calculation, default true
  use_dijkstra: true                            # Use dijkstra's algorithm. Otherwise, A*, default true
  use_grid_path: false                          # Create a path that follows the grid boundaries. Otherwise, use a gradient descent method, default false

And how the launch file calls for those parameters:

  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap" />   
    <rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load" />   
    <rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/dwa_local_planner_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/global_planner_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/navfn_global_planner_params.yaml" command="load" />
    <!-- external params file that could be loaded into the move_base namespace -->
    <rosparam file="$(arg custom_param_file)" command="load" />