add potential field method as a global planner plug-in
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
https://github.com/gonzalesMK/Potenti...
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)
project(potential_field)
find_package(catkin REQUIRED COMPONENTS
nav_core
costmap_2d
geometry_msgs
move_base
nav_msgs
roscpp
sensor_msgs
std_msgs
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)
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.
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
and the lib exists in the answer described folder?
yes i have libglobal_planner.so file under catkin_ws/devel/lib destination
no what we are searching for is the
libpotential_field_lib
sorry, i mixed files. but i have libpotential_field_lib file too .
what I really would recommend is that you add
to your CMakeLists.txt
i tried what u recommended but i got same error.