I personally use the move_base package with ROS Indigo to run both Dijkstra and A*. In my launch file i have:
<!-- Move_Base node -->
<node pkg="move_base" type="move_base" name="move_base" output="screen" >
<rosparam file="/path/to/file/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="/path/to/file/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="/path/to/file/local_costmap_params.yaml" command="load" />
<rosparam file="/path/to/file/global_costmap_params.yaml" command="load" />
<rosparam file="/path/to/file/base_local_planner_params.yaml" command="load" />
</node>
Inside base_local_planner_params.yaml I specify
# Global Planner Parameters
BaseGlobalPlanner:
allow_unknown: false
use_dijkstra: false #Use A* instead
use_quadratic: true
use_grid_path: false
old_navfn_behavior: false
The use_dijikstra parameter is the one that specifies whether A* or Dijkstra will be used.
IMPORTANT NOTES:
1) ROS indigo uses navfn by default, which can only do Dijkstra. In order to use A* you must download global_planner.
2) Once things are setup you should verify that the parameters are actually getting loaded correctly by using rosparam. This type of thing won't give you an error and so you could be using Dijkstra for a long time while thinking that your actually using A*.
3) If the parameters aren't being loaded correctly, the first thing I usually check is the namespaces (ns). They can be tricky.
This is very vague and so I will need more details in order to help you. What 'page' are you referring to. Can you provide a link? If you haven't already check out the navigation stack tutorials.. Also what version of ROS are you using?
Hello Shoemakerlevy9 thanks for replying. I am using the Indigo version of ROS, and there is no way to execute the algorithms that are in the "global_planner" package, the page where the parameters are in the following http://wiki.ros.org/global_planner?di... . And take a look at the link pr
I believe that ROS indigo uses navfn by default, which can only do dijkstra. In order to use A* you must download global_planner. I think I was able to use apt-get to install it. Once you do that the page you linked to will make a lot more sense.
Ok thanks!! I think I'm going to read a little more because I'm lost, I understand that it installs separately, because it enters in super user mode to my folders of global_planner and it does not bring any algorithm. Sorry for being a bit silly but I am very new to this and I work hard to understan