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enable carrot_planner

asked 2015-02-25 16:24:30 -0500

Pototo gravatar image

updated 2015-02-27 03:30:44 -0500

Procópio gravatar image

Hi folks,

How can I enable the carrot_planner in the navigation stack without have to write any code? Is there a parameter to enable it (in the same way we can enable/disable dwa)?

Thanks

edit1:

After I include that line inside move_base launcher to include carror, now I get this error:

[FATAL] [1424988770.617038890]: Failed to create the carrot_planner/CarrotPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class carrot_planner/CarrotPlanner with base class type nav_core::BaseGlobalPlanner does not exist. Declared types are  navfn/NavfnROS
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what version of ROS are you using? do you have carrot_planner installed? eg.: roscd carrot_planner works?

Procópio gravatar imageProcópio ( 2015-02-27 03:33:18 -0500 )edit

I just installed it. I did not have it before. Thanks!

Pototo gravatar imagePototo ( 2015-02-27 15:35:37 -0500 )edit

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answered 2015-02-26 02:52:50 -0500

Procópio gravatar image

you can add this line to your launch file, after your move_base node

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_global_planner" value="carrot_planner/CarrotPlanner"/>
   .
   .
   .
</node>
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Asked: 2015-02-25 16:24:30 -0500

Seen: 333 times

Last updated: Feb 27 '15