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global_planner changing parameters

asked 2015-06-02 10:15:48 -0500

assil gravatar image

updated 2015-06-03 08:44:51 -0500

Procópio gravatar image

Hi folks,

I'd like to change the following parameters in the global_planner hydro-devel package to false to use the A* algorithme:

~<name>/use_dijkstra (bool, default: true)
If true, use dijkstra's algorithm. Otherwise, A*.

But I can't find the file in which I must make changes !!


File: move_base.launch.xml:

    ROS navigation stack with velocity smoother and safety (reactive) controller
  <include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/>
  <include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>
  <arg name="odom_topic" default="odom" />
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
  <param name="base_global_planner" value="global_planner/GlobalPlanner" />              
    <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="$(find turtlebot_navigation)/param/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load" />
    <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
    <remap from="odom" to="$(arg odom_topic)"/>

There's no Planner.yaml or global_planner.yaml that contains the parameter that I'd like to change !

Can someone help me please.


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This is the relevant tutorial:

assil gravatar image assil  ( 2015-06-02 10:23:31 -0500 )edit

2 Answers

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answered 2015-06-04 21:06:24 -0500

David Lu gravatar image

Within the move_base namespace:

 <param name="GlobalPlanner/use_dijkstra " value="true" />
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answered 2015-06-03 03:45:06 -0500

Procópio gravatar image

updated 2015-06-03 03:45:39 -0500

Are you starting your move_base node with a launch file? If so, you would have something like this:

<node pkg="move_base" type="move_base" respawn="false" name="move_base_node" output="screen">   
    <rosparam file="$(find your_pkg)/common.yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find your_pkg)/common.yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find your_pkg)/local.yaml" command="load" />
    <rosparam file="$(find your_pkg)/global.yaml" command="load" />
    <rosparam file="$(find your_pkg)/planner.yaml" command="load" />

here each yaml file has the configurations for several aspects of move_base. Normally you can use the planner.yaml file to configure the parameter you asked about.

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Hi Stein, Thanks for you answer, I edited my question and I added my "move_base.launch.xml" file in which there's no Planner.yaml or global_planner.yaml files included ! I searched my disk for this file but I found nothing. Can you help me to resolve this please ?

assil gravatar image assil  ( 2015-06-03 04:13:34 -0500 )edit

Did you update your turtlebot navigation stack at some point? The files is for instance here:

daenny gravatar image daenny  ( 2015-06-03 17:57:52 -0500 )edit

No, I didn't update it! I installed it from source following this tutorial:
This file exists in the Indigo branch and not hydro If I download and add it to the param folder and add it to the move_base.launch file, will it functions for me?

assil gravatar image assil  ( 2015-06-04 02:36:26 -0500 )edit

I'm using Ros Hydro with Ubuntu 12.04.

assil gravatar image assil  ( 2015-06-04 02:55:54 -0500 )edit

yes, it should work for hydro, indigo and jade.

Procópio gravatar image Procópio  ( 2015-06-04 03:08:28 -0500 )edit

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Asked: 2015-06-02 10:15:48 -0500

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Last updated: Jun 04 '15