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ros_android load plugins for move_base

asked 2018-08-09 04:20:47 -0500

manster2209 gravatar image

updated 2018-08-09 05:44:38 -0500

concerning this tutorial: android_ndk_pluginlib

i set up my android robot with ros_android and everything is working so far including amcl. But i cant get the plugins to work. The plugins i need are base_local_planner/TrajectoryPlannerROS costmap2d/inflationlayer obstacle layer and static_layer. Usually i would load them by setting the according Parameters in the XML and YAML files like this:

- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}

but with ros_android i dont have that option. To set the parameters i use:

        ParameterTree params = connectedNode.getParameterTree();
        params.set("move_base_node/global_costmap/plugins/name/inflation_layer", "costmap_2d/StaticLayer");

which doesn't seem to work.

In the android.mk file i have included

LOCAL_WHOLE_STATIC_LIBRARIES := libcostmap_2d libbase_local_planner libglobal_planner

any help would be very welcome.

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answered 2018-08-13 13:00:31 -0500

jubeira gravatar image

Hi @manster2209,

I think I've answered that question in this post in ROS discourse. Please check out that answer; an example for the cross compiled navigation stack for Android is provided there.

Hope it helps!

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Comments

Yes you did! Thank you very much! I am currently looking into that solution! It looks very promising. You are doing great work! Can I reach out to you if I have any more Questions? Kind regards!

manster2209 gravatar image manster2209  ( 2018-08-15 10:09:46 -0500 )edit

Sure! Feel free to do so, or to open a new thread here in ROS answers (it may also help others that are facing the same problems). I regularly check for new questions if they are tagged with rosjava, android and / or related tags; I will respond as soon as possible.

jubeira gravatar image jubeira  ( 2018-08-15 11:33:12 -0500 )edit

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Asked: 2018-08-09 04:20:47 -0500

Seen: 296 times

Last updated: Aug 13 '18