custom global planner with multiple cpp and h files

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Hi

I have created a custom planner following this tutorial:

http://wiki.ros.org/navigation/Tutori...

I created the files:

GA_global_planner.cpp and GA_global_planner.h

Also, I needed other utility classes:

Path.cpp, Path.h, Map.cpp, Map.h, GenericPathPlanner.cpp, GenericPathPlanner.h , OccupancyGridMap.cpp, OccupancyGridMap.h , all are necessary for the planning.

This is part of GA_global_planner.h,

#include "GenericPathPlanner.h"
#include "OccupancyGridMap.h"
#include "Map.h"
#include "Path.h"
class GAGlobalPlannerROS : public nav_core::BaseGlobalPlanner, public GenericPathPlanner

NOTE: that the class GAGlobalPlannerROS inherits both BaseGlobalPlanner and GenericPathPlanner

NOTE: that the class OccupancyGridMap inherits public from class Map

I can successfully compile and build the package of this planner.

However, when I try to use the planner with move_base got error:

[FATAL] [1623866783.746869597, 0.412000000]: Failed to create the GA_planner/GAGlobalPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: Failed to load library /home/evadro/Desktop/Eman/ros_workspace/devel/lib//libGA_planner_lib.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/evadro/Desktop/Eman/ros_workspace/devel/lib//libGA_planner_lib.so: undefined symbol: _ZN18GenericPathPlanner8findPathEP16OccupancyGridMapP4Path)
[move_base-12] process has died [pid 17199, exit code 1, cmd /opt/ros/kinetic/lib/move_base/move_base __name:=move_base __log:=/home/evadro/.ros/log/8a34ae68-cecd-11eb-b87b-9e3f7c65cb79/move_base-12.log].
log file: /home/evadro/.ros/log/8a34ae68-cecd-11eb-b87b-9e3f7c65cb79/move_base-12*.log

When I rewrite the implementation without Path.cpp, Path.h, Map.cpp, Map.h, GenericPathPlanner.cpp, GenericPathPlanner.h , OccupancyGridMap.cpp, OccupancyGridMap.h, every thing works fine and I can use my planner in ROS.

However, I need to implement another custom planner, but I have to use Path.cpp, Path.h, Map.cpp, Map.h, GenericPathPlanner.cpp, GenericPathPlanner.h , OccupancyGridMap.cpp, OccupancyGridMap.h because the implementation will be very complicated without them.

How can I solve this problem ( using multiple cpp files with the custom planner)?

Many thanks

UPDATE:

at the beginning of the source GA_global_planner.cpp

PLUGINLIB_EXPORT_CLASS(GA_planner::GAGlobalPlannerROS, nav_core::BaseGlobalPlanner)

at the beginning of GenericPathPlanner.cpp

PLUGINLIB_EXPORT_CLASS(GenericPathPlanner, nav_core::BaseGlobalPlanner)

at the beginning of OccupancyGridMap.cpp

PLUGINLIB_EXPORT_CLASS(OccupancyGridMap, nav_core::BaseGlobalPlanner)

at the beginning of Map.cpp

PLUGINLIB_EXPORT_CLASS(Map, nav_core::BaseGlobalPlanner)

at the beginning of Path.cpp

PLUGINLIB_EXPORT_CLASS(Path, nav_core::BaseGlobalPlanner)

* The launch file *

<launch>
    <arg name="use_rosbot" default="false"/>
    <arg name="use_gazebo" default="true"/>
    <param if="$(arg use_gazebo)" name="use_sim_time" value="true"/>
<!-- Bring the ROSbot model and show it in Gazebo and in Rviz  -->
    <include file="$(find rosbot_description)/launch/rosbot_rviz.launch"/>
<!-- Map server -->
    <arg name="map_file" default="$(find rosbot_navigation)/maps/willowgarage-refined.yaml"/>
    <node name="map_server" pkg="map_server" type="map_server" args="$(arg map_file)" />
<!--- tf -->
    <node unless="$(arg use_rosbot)" pkg="tf" type="static_transform_publisher" name="map_odom_tf" args="0 0 0 0 0 0 map odom 100" />  
    <node if="$(arg use_rosbot)" pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0 0 0 3.14 0 0 base_link laser 100" /> ...