To run the a-star algorithm on a Jetson Xavier, you have to use an implementation written in Haskell, and installed using a version of Cabal newer than 3.3. I recommend the Glasgow Haskell Compiler version 8.2 or newer.
Actually, that’s a joke. The A-star algorithm is just an algorithm. The Xavier is a general-purpose computer, which can run any algorithm in any language you can compile for it, which is pretty much every programming language supported by Ubuntu 18.04. (Except for x86/64 assembly – it instead uses arm64 assembly.)