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Failed to create the aaa_planner/AaaPlanner planner

asked 2021-04-16 07:41:25 -0600

Guapiii gravatar image

I wrote a global path planning package of my own, and The program was successfully compiled. All the steps are the same as on the website'Writing A Global Path Planner As Plugin in ROS'

When I use the commandrospack plugins --attrib=plugin nav_core, It shows:

aaa_planner /home/yaoxin/plugin_ws/src/aaa_planner/aaa_planner_plugin.xml
base_local_planner /opt/ros/melodic/share/base_local_planner/blp_plugin.xml
base_local_planner /opt/ros/melodic/share/base_local_planner/blp_plugin.xml ... ...

It means that my plug-in installed successfully, But when I configured the launch file and use this command to run Rviz:

roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map_file/map2.yaml

It went wrong:

[ INFO] [1618575483.558888403, 5.152000000]: global_costmap: Using plugin "static_layer"
[ INFO] [1618575483.568184307, 5.162000000]: Requesting the map...
[ INFO] [1618575483.771867456, 5.364000000]: Resizing costmap to 384 X 384 at 0.050000 m/pix
[ INFO] [1618575483.872477849, 5.464000000]: Received a 384 X 384 map at 0.050000 m/pix
[ INFO] [1618575483.879904455, 5.472000000]: global_costmap: Using plugin "obstacle_layer"
[ INFO] [1618575483.886097774, 5.478000000]:     Subscribed to Topics: scan
[ INFO] [1618575483.919330434, 5.511000000]: global_costmap: Using plugin "inflation_layer"
[FATAL] [1618575483.971693524, 5.562000000]: Failed to create the aaa_planner/AaaPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: Failed to load library /home/yaoxin/plugin_ws/devel/lib//libaaa_planner.so. Make sure that you are calling the PLUGINLIB_EXPORT_CLASS macro in the library code, and that names are consistent between this macro and your XML. Error string: Could not load library (Poco exception = /home/yaoxin/plugin_ws/devel/lib//libaaa_planner.so: undefined symbol: _ZTVN11aaa_planner10AaaPlannerE)
[move_base-4] process has died [pid 11895, exit code 1, cmd /opt/ros/melodic/lib/move_base/move_base cmd_vel:=/cmd_vel odom:=odom __name:=move_base __log:=/home/yaoxin/.ros/log/c4910dcc-9ead-11eb-b368-04d4c4afb67f/move_base-4.log].
log file: /home/yaoxin/.ros/log/c4910dcc-9ead-11eb-b368-04d4c4afb67f/move_base-4*.log

I don't know what the problem is

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answered 2021-04-18 20:51:00 -0600

Guapiii gravatar image

I have found the reason for the mistake:

I wrote the destructor in the header file, but did not implement it... ...

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Asked: 2021-04-16 07:41:25 -0600

Seen: 38 times

Last updated: Apr 18 '21