Problem running move_base

asked 2020-11-28 05:14:23 -0500

updated 2020-11-28 07:04:19 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

Hi guys, I have a problem when I run move_base like this:

Failed to create the nav_core_adapter::LocalPlannerAdapter planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class dwb_plugins::LimitedAccelGenerator or dwb_plugins::LimitedAccelGenerator StandardTrajectoryGenerator with base class type dwb_local_planner::TrajectoryGenerator does not exist. Declared types are 
[move_base_node-1] process has died [pid 16124, exit code 1, cmd /home/justin/catkin_ws/devel/lib/move_base/move_base map:=map odom:=/odom_comb marker:=move_base_node/DWBLocalPlanner/markers __name:=move_base_node __log:=/home/justin/.ros/log/c5d0f590-3160-11eb-be62-6036dd83cd72/move_base_node-1.log].
log file: /home/justin/.ros/log/c5d0f590-3160-11eb-be62-6036dd83cd72/move_base_node-1*.log

Hope someone can help me to fix it! Thanks

answered 2020-11-28 10:28:11 -0500

chfritz

553 ●2 ●48 ●18 https://luminrobotics.com

Most likely you just don't have that planner installed that you are specifying in your config. Make sure they are by running

sudo apt install ros-melodic-dwb-local-planner ros-melodic-dwb-plugins

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Thank you for your help. After I install dwb-local-planner and dwb-plugins it has another problem when I'm running move_base:

Failed to create the nav_core_adapter::LocalPlannerAdapter planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class RotateToGoalCritic with base class type dwb_local_planner::TrajectoryCritic does not exist. Declared types are [move_base_node-1] process has died [pid 7711, exit code 1, cmd /home/justin/catkin_ws/devel/lib/move_base/move_base map:=map odom:=/odom_comb marker:=move_base_node/DWBLocalPlanner/markers __name:=move_base_node __log:=/home/justin/.ros/log/04c51dc6-31e8-11eb-9230-6036dd83cd72/move_base_node-1.log]. log file: /home/justin/.ros/log/04c51dc6-31e8-11eb-9230-6036dd83cd72/move_base_node-1*.log

thanhngoc.nguyen ( 2020-11-28 21:08:04 -0500 )edit

You probably want to install the entire nav_core2 package: ros-melodic-nav-core2.

chfritz ( 2020-11-28 21:26:30 -0500 )edit

Actually, you are probably just missing: ros-melodic-nav-core-adapter - This package contains adapters for using 'nav_core' plugins as 'nav_core2' plugins and vice versa (more or less).

chfritz ( 2020-11-28 21:27:48 -0500 )edit

I have installed nav_core2 and also nav-core-adapter package but nothing changes

thanhngoc.nguyen ( 2020-11-28 21:31:20 -0500 )edit

after I install dwb_critics it has problems like this

Failed to create the nav_core_adapter::LocalPlannerAdapter planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class rtcrobot_dwb_critics::PathProgressCritic with base class type dwb_local_planner::TrajectoryCritic does not exist. Declared types are dwb_critics::BaseObstacleCritic dwb_critics::GoalAlignCritic dwb_critics::GoalDistCritic dwb_critics::ObstacleFootprintCritic dwb_critics::OscillationCritic dwb_critics::PathAlignCritic dwb_critics::PathDistCritic dwb_critics::PreferForwardCritic dwb_critics::RotateToGoalCritic dwb_critics::TwirlingCritic [move_base_node-1] process has died [pid 15959, exit code 1, cmd

thanhngoc.nguyen ( 2020-11-28 22:38:49 -0500 )edit

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