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Hello! Thanks for your solution first, and i have done much jobs after following your solution , but i have one problem t step 7, after i type "sudo catkin build", and the error is show as follow:

Errors << moveit_planners_ompl:make /home/logan/ws_moveit/logs/moveit_planners_ompl/build.make.012.log /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference to ompl::geometric::myPlanner::myPlanner(std::shared_ptr<ompl::base::SpaceInformation> const&, bool)' /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference toompl::geometric::myPlanner::~myPlanner()' collect2: error: ld returned 1 exit status make[2]: * [/home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/moveit_planners_ompl/moveit_ompl_planner] Error 1 make[1]: [ompl_interface/CMakeFiles/moveit_ompl_planner.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference to ompl::geometric::myPlanner::myPlanner(std::shared_ptr<ompl::base::SpaceInformation> const&, bool)' /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference toompl::geometric::myPlanner::~myPlanner()' collect2: error: ld returned 1 exit status make[2]: [/home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/moveit_planners_ompl/moveit_demo_construct_constraints_database] Error 1 make[1]: [ompl_interface/CMakeFiles/moveit_demo_construct_constraints_database.dir/all] Error 2 make: * [all] Error 2 cd /home/logan/ws_moveit/build/moveit_planners_ompl; catkin build --get-env moveit_planners_ompl | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -

the new planner "myPlanner" just copied from "ompl/src/ompl/geometric/planners/prm", and i change all the file name with "myPlanner" , i just want to know how to add a planner by myself. And i know the problem is appeared after i add the header file that defines the new planner at the top and register your planner in the registerDefaultPlanners() function in "src/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp" file. the ompl can cmake and make install success, and i if i remove the content what i add in "planning_context_manager.cpp" file, the ws_moveit workspace can be build success. If you know some solution about this problem, please help me, thank you very much!

Hello! Thanks for your solution first, and i have done much jobs after following your solution , but i have one problem t step 7, after i type "sudo catkin build", and the error is show as follow:

Errors << moveit_planners_ompl:make /home/logan/ws_moveit/logs/moveit_planners_ompl/build.make.012.log

/home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference to ompl::geometric::myPlanner::myPlanner(std::shared_ptr<ompl::base::SpaceInformation> const&, bool)' /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference toompl::geometric::myPlanner::~myPlanner()' collect2: error: ld returned 1 exit status make[2]: * [/home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/moveit_planners_ompl/moveit_ompl_planner] Error 1 make[1]: [ompl_interface/CMakeFiles/moveit_ompl_planner.dir/all] Error 2 make[1]: Waiting for unfinished jobs.... /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference to ompl::geometric::myPlanner::myPlanner(std::shared_ptr<ompl::base::SpaceInformation> const&, bool)' /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference toompl::geometric::myPlanner::~myPlanner()' collect2: error: ld returned 1 exit status make[2]: [/home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/moveit_planners_ompl/moveit_demo_construct_constraints_database] Error 1 make[1]: [ompl_interface/CMakeFiles/moveit_demo_construct_constraints_database.dir/all] Error 2 make: * [all] Error 2 cd /home/logan/ws_moveit/build/moveit_planners_ompl; catkin build --get-env moveit_planners_ompl | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -

the new planner "myPlanner" just copied from "ompl/src/ompl/geometric/planners/prm", and i change all the file name with "myPlanner" , i just want to know how to add a planner by myself. And i know the problem is appeared after i add the header file that defines the new planner at the top and register your planner in the registerDefaultPlanners() function in "src/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp" file. the ompl can cmake and make install success, and i if i remove the content what i add in "planning_context_manager.cpp" file, the ws_moveit workspace can be build success. If you know some solution about this problem, please help me, thank you very much!

Hello! Thanks for your solution first, and i have done much jobs after following your solution , but i have one problem t at step 7, after i type "sudo catkin build", and the error is show as follow:

Errors << moveit_planners_ompl:make  /home/logan/ws_moveit/logs/moveit_planners_ompl/build.make.012.log

/home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference to ompl::geometric::myPlanner::myPlanner(std::shared_ptr<ompl::base::SpaceInformation> /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference to `ompl::geometric::myPlanner::myPlanner(std::shared_ptr<ompl::base::SpaceInformation> const&, bool)' /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference toompl::geometric::myPlanner::~myPlanner()' to `ompl::geometric::myPlanner::~myPlanner()' collect2: error: ld returned 1 exit status make[2]: * *** [/home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/moveit_planners_ompl/moveit_ompl_planner] Error 1 make[1]: *** [ompl_interface/CMakeFiles/moveit_ompl_planner.dir/all] Error 2 make[1]: *** Waiting for unfinished jobs.... /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference to ompl::geometric::myPlanner::myPlanner(std::shared_ptr<ompl::base::SpaceInformation> `ompl::geometric::myPlanner::myPlanner(std::shared_ptr<ompl::base::SpaceInformation> const&, bool)' /home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/libmoveit_ompl_interface.so.0.9.12: undefined reference toompl::geometric::myPlanner::~myPlanner()' to `ompl::geometric::myPlanner::~myPlanner()' collect2: error: ld returned 1 exit status status make[2]: *** [/home/logan/ws_moveit/devel/.private/moveit_planners_ompl/lib/moveit_planners_ompl/moveit_demo_construct_constraints_database] Error 1 make[1]: *** [ompl_interface/CMakeFiles/moveit_demo_construct_constraints_database.dir/all] Error 2 make: * *** [all] Error 2 cd /home/logan/ws_moveit/build/moveit_planners_ompl; catkin build --get-env moveit_planners_ompl | catkin env -si /usr/bin/make --jobserver-fds=6,7 -j; cd -

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the new planner "myPlanner" is just copied from "ompl/src/ompl/geometric/planners/prm", and i change have changed all the file file's name with by "myPlanner" , i just want to know how to add a planner by myself. And i know the problem is appeared after i add the header file that defines the new planner at the top and register your the new planner in the registerDefaultPlanners() function in "src/moveit_planners/ompl/ompl_interface/src/planning_context_manager.cpp" file. the ompl can cmake and make install success, and i if i remove the content what i add in "planning_context_manager.cpp" file, the ws_moveit workspace can be build success. success.

If you know some solution about this problem, please help me, thank you very much!