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add potential field method as a global planner plug-in

asked 2017-05-23 18:56:54 -0600

avicenna gravatar image

updated 2017-05-24 06:03:27 -0600

gvdhoorn gravatar image

hello, i tried to add this package. catkin_make works fine, there is no error. also source devel/setup.bash works fine.but when i change my base_global_planner in move_base.launch file, i have error message which is given below,

**[FATAL] [1495582169.111329483, 4256.310000000]: Failed to create the potential_field/potentialField planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class potential_field/potentialField with base class type nav_core::BaseGlobalPlanner does not exist. Declared types are carrot_planner/CarrotPlanner global_planner/GlobalPlanner navfn/NavfnROS

[move_base-1] process has died [pid 24627, exit code 1, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/hg/.ros/log/c3bbb38c-4008-11e7-9800-ac2b6ed5e4b3/move_base-1.log]. log**

i use this link

Edit: yes, i have no error while compiling. After compiling, i source my ws and it is okey. here it is mt cmake.txt file.

cmake_minimum_required(VERSION 2.8.3)

find_package(catkin REQUIRED COMPONENTS   
  tf )

catkin_package(CATKIN_DEPENDS nav_core costmap_2d geometry_msgs move_base nav_msgs roscpp sensor_msgs std_msgs tf )

include_directories( ${catkin_INCLUDE_DIRS} )

add_library( potential_field_lib src/potentialField_ROS.cpp)
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Ah there may be several issues for that. But at the first look it seem to be everything ok.

Try to source your workspace again after compiling.

chwimmer gravatar imagechwimmer ( 2017-05-24 02:49:31 -0600 )edit

there is no problem during catkin_make or sourcing. The problem occurs when i am trying to start move_base. also when i chose default planner ( navfn global planner or global planner) there is no problem,it works fine. but when i chose base_global_planner as a potential field, it wont work

avicenna gravatar imageavicenna ( 2017-05-24 03:10:32 -0600 )edit

and the lib exists in the answer described folder?

chwimmer gravatar imagechwimmer ( 2017-05-24 06:57:06 -0600 )edit

yes i have file under catkin_ws/devel/lib destination

avicenna gravatar imageavicenna ( 2017-05-24 07:00:33 -0600 )edit

no what we are searching for is the libpotential_field_lib

chwimmer gravatar imagechwimmer ( 2017-05-24 07:08:09 -0600 )edit

sorry, i mixed files. but i have libpotential_field_lib file too .

avicenna gravatar imageavicenna ( 2017-05-24 07:43:36 -0600 )edit

what I really would recommend is that you add


to your CMakeLists.txt

chwimmer gravatar imagechwimmer ( 2017-05-24 07:57:48 -0600 )edit

i tried what u recommended but i got same error.

avicenna gravatar imageavicenna ( 2017-05-24 08:07:14 -0600 )edit

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answered 2017-05-24 03:30:28 -0600

ok I have to write more than a comment:

Ok that just means, that move_base cant find the plugin. What makes me a little bit nervous is, that target_link_libraries is missing in CMakeLists.txt. Its really compiling without any link errors?

Please check if the corresponding library libpotential_field_lib really exists in /your_workspace/devel/lib/

When it exists source your workspace again with source your_workspace/devel/setup.bash

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answered 2017-05-24 11:04:09 -0600

Procópio gravatar image

did you created your plugin? as detailed here:

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yes, i think i create properly with this lines in package.xml file:

<nav_core plugin="${prefix}/potential_field_plugin.xml"/>

avicenna gravatar imageavicenna ( 2017-05-24 13:00:06 -0600 )edit

Hi, were you able to add the plug-in successfully? @avicenna

jesus gravatar imagejesus ( 2019-03-04 20:35:53 -0600 )edit

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Asked: 2017-05-23 18:56:54 -0600

Seen: 373 times

Last updated: May 24 '17