ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Failed to create local planner.

asked 2018-06-04 03:49:27 -0500

malgudi gravatar image

Hi, I have created my own customized local planner. When I compile it, there were no errors. But when I try to run my robot using the local planner, it showed the following error image description

I have checked move_base.xml file, there is no error. I cross-checked using the command

rospack plugins −−attrib=plugin nav_core

This shows that nav_core exported the new created shifty_local_planner. But when I roslaunch it, it throws this error. Could you tell me exactly where is the problem?

Thank You.

edit retag flag offensive close merge delete


Please don't use an image to display text. Images are not searchable and people cannot copy and paste the text from the image. Please update your question with a copy and paste of the error instead (using the 101010 button to enable formatting).

jayess gravatar image jayess  ( 2018-07-16 08:23:56 -0500 )edit

2 Answers

Sort by » oldest newest most voted

answered 2018-07-16 08:20:46 -0500

The solution is right in the error message:

"[...] the class shifty_local_planner/ShiftyPlannerROS [...] does not exist."

"Declared types are ShiftyPlannerROS ..."

So it's looking for shifty_local_planner/ShiftyPlannerROS, but all it could find was ShiftyPlannerROS (without the namespace).

edit flag offensive delete link more

answered 2018-07-17 01:42:06 -0500

pavel92 gravatar image

updated 2018-07-17 01:46:18 -0500

As Martin has pointed out the problem is displayed in the error message. The fix would be to edit your blp_plugin.xml file properly. It should contain the following:

<library path="lib/libshifty_local_planner">
  <class name="shifty_local_planner/ShiftyPlannerROS" type="shifty_local_planner::ShiftyPlannerROS" base_class_type="nav_core::BaseLocalPlanner">
      A implementation of a ShiftyPlannerROS local planner.

You should use the shifty_local_planner as a namespace and ShiftyPlannerROS as the name of the class in your source files.

Also, do a clean build afterwards.

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2018-06-04 03:49:27 -0500

Seen: 820 times

Last updated: Jul 17 '18