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ROS Navigation Stack, Changing Global Planner

asked 2014-07-29 18:46:13 -0600

ROSCMBOT gravatar image


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?


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answered 2014-07-29 20:17:35 -0600

2ROS0 gravatar image

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.

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answered 2014-07-29 20:11:40 -0600

Ken_in_JAPAN gravatar image

Could you check this page ( ) ? This article might be useful for you.

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Asked: 2014-07-29 18:46:13 -0600

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Last updated: Jul 29 '14