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global_planner changing parameters

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 !!

Can someone help me please.

Regards.

global_planner changing parameters

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 !!

EDIT:

File: move_base.launch.xml:

<launch> <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"> <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)"/>

</node> </launch>

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

Can someone help me please.

Regards.

global_planner changing parameters

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 !!

EDIT:

File: move_base.launch.xml:

<launch> <include file="$(find turtlebot_navigation)/launch/includes/velocity_smoother.launch.xml"/> <include file="$(find turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/>

turtlebot_navigation)/launch/includes/safety_controller.launch.xml"/> <arg name="odom_topic" default="odom"/>

default="odom"/> <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="$(find turtlebot_navigation)/param/base_local_planner_params.yaml" command="load"/> <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load"/>

command="load"/>
    <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/>
 <remap from="odom" to="$(arg odom_topic)"/>

</node> </launch>

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

Can someone help me please.

Regards.

global_planner changing parameters

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 !!

EDIT:

File: move_base.launch.xml:

<!-- 
    ROS navigation stack with velocity smoother and safety (reactive) controller
-->
<launch>
  <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"/>
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="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="global_costmap"/> ns="global_costmap" /> <rosparam file="$(find turtlebot_navigation)/param/costmap_common_params.yaml" command="load" ns="local_costmap"/> ns="local_costmap" /> <rosparam file="$(find turtlebot_navigation)/param/local_costmap_params.yaml" command="load"/> command="load" /> <rosparam file="$(find turtlebot_navigation)/param/global_costmap_params.yaml" command="load"/> command="load" /> <rosparam file="$(find turtlebot_navigation)/param/base_local_planner_params.yaml" command="load"/> command="load" /> <rosparam file="$(find turtlebot_navigation)/param/move_base_params.yaml" command="load"/> command="load" /> <remap from="cmd_vel" to="navigation_velocity_smoother/raw_cmd_vel"/> <remap from="odom" to="$(arg odom_topic)"/> </node> </launch>

</launch>

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

Can someone help me please.

Regards.