Move_base dies on giving goal, exit code - 11 [closed]

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Thank you for your suggestion, however, it is still not working and move_base is dying. I commented all code involving the file, that doesn't work too.

Hmmm, It's difficult.

There are three constructors, aren't there. Couldn't you output a message in each constructor so that it is clear which ADAstarPlannerROS::ADAstarPlannerROS(std::string name, costmap_2d::Costmap2DROS* costmap_ros) is being called?

This will tell you if the constructor you are expecting is being called. It is possible that it was not called in the first place.

Out of the three constructor functions, only one without any parameters is being called ADAstarPlannerROS::ADAstarPlannerROS() (only this one is able to print stuff on the terminal when I run the navigation stack). However, even though the constructor ADAstarPlannerROS::ADAstarPlannerROS(name, costmap_ros) isn't able to print anything, it is calling the initialize(name, costmap_ros) function as the print line ROS_INFO("ADAstar planner initialized successfully") inside the initialize function is getting printed. This is a very strange behaviour of function calls that I'm seeing for the first time. Any hints?

It seems that initialize is called by move_base. ref: https://github.com/ros-planning/navig...

ROS_INFO("ADAstar planner initialized successfully") is displayed, so I guess the initialization was successful. If the initialize is successful, then I guess make_plan is called.If it is called, can you check which part of make_plan is running?

I solved this. There was a matrix declaration g_score[mapSize] that wasn't getting declared properly due to an invalid scope of size variable passed in the declaration of that matrix. I rewrote the code again adhering to nav_core::BaseGlobalPlanner without any bells & whistles and it worked just fine.

Had to debug by printing stuff on the terminal.

Thanks a lot guys!

@Kanishk598 Congratulations on the solution!

People looking for more information might require assistance in building their own planners, so I made a template and an example planner for them here.