Problem (TL;DR)

I am trying to write a custom global planner that can alternate between the another global planner (here navfn), and a custom algorithm of my own. The errors I am getting suggest a linker error, but I could also be incorrectly calling and using the navfn code. I would appreciate it if someone with more knowledge than me could confirm whether my implementation is correct or not.

Problem (full)

As above. My repository, including all necessary .h, .cpp, .xml and CMakeList files is here. The code is largely based off the ROS tutorial on writing a custom planner. It seems that this method relies on writing overloaded versions of functions that move_base can call. I would like someone more knowledgeable than me to confirm that my implementation is correct, specifically:

1. The definition of the navfn object from the class definition in the custom sinusoidpathplanner.h file:

     navfn::NavfnROS* navfn_planner = NULL;
   

2. The initalization of the navfn class from within my custom planner initalize function, as written in the sinusoidpathplanner.cpp file

     navfn_planner = new navfn::NavfnROS();
     navfn_planner->initialize(name, costmap_ros);
   

3. Calling the navfn::NavfnROS::makePlan function from within the makePlan function of my custom planner, again in sinusoidpathplanner.cpp:

   navfn_planner->makePlan(start, goal, plan);
   

I've seen several other questions from people trying to do something similar (1, 2, 3) , but so far I haven't found any working pre-existing code. So hopefully an answer to this question can help those people as well.

Relevant system information:

• OS: Ubuntu 14.04
• ROS version: Indigo Igloo
• PCL version: PCL 1.8

The code in my linked repository compiles on my system but fails with this error:

[ INFO] [1560163720.835616531, 3720.674000000]: Created global planner sinusoid_path_planner/GlobalPlanner
/opt/ros/indigo/lib/move_base/move_base: symbol lookup error: /home/matt/auxiliary_ros_repo/devel/lib//libsinusoid_path_planner.so: undefined symbol: _ZN5navfn8NavfnROSC1Ev
[move_base-1] process has died [pid 16479, exit code 127, cmd /opt/ros/indigo/lib/move_base/move_base odom:=odometry/filtered __name:=move_base __log:=/home/matt/.ros/log/28c5f010-8b68-11e9-a9ae-e8b1fc8ba78b/move_base-1.log].
log file: /home/matt/.ros/log/28c5f010-8b68-11e9-a9ae-e8b1fc8ba78b/move_base-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

De-mangling the symbol name with c++filt indicates that this is failing at the navfn::NavfnROS::NavfnROS() call. The "missing symbol" error is usually a linker problem. But as I've said, my implementation could also be wrong, and I would greatly appreciate someone confirming if this is the case or not.