Trouble Compiling Global Planner Plugin

asked 2020-03-26 20:02:26 -0500

vinny gravatar image


I am trying to compile a planner for the ROS1 Nav Stack Global Planner on ROS Kinetic/ Ubuntu 16.04. I am getting the following error:

Failed to create the HybridGlobalPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class HybridGlobalPlanner with base class type nav_core::BaseGlobalPlanner does not exist. Declared types are  global_planner/GlobalPlanner hybrid_astar_global_planner/HybridGlobalPlanner navfn/NavfnROS

I am following the tutorial as outlined in this tutorial

  1. I have made sure that my class is referencing the Base Global Planner
  2. I have made sure that the plugin is exported as: PLUGINLIB_EXPORT_CLASS(global_planner::GlobalPlanner, nav_core::BaseGlobalPlanner)
  3. There is a proper implementation of the makePlan() method
  4. The CMakeLists is modified as shown

The full repo I am working on is located here. Any insight will be fully appreciated , I am not sure what I am missing here.

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