Failed to create the global planner

asked 2022-08-19 04:12:07 -0600

OverDemon gravatar image

Setup: ROS melodic, Ubuntu: 18.04

Trying get into simulation of global path planning with the turtlebot3. I've followed this tutorial: but have done a few things different due to not being able to do it as in the tutorial. The error I'm having is:

Failed to create the global_planner/GlobalPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: MultiLibraryClassLoader: Could not create object of class type global_planner::GlobalPlanner as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()

I can see that others seem to have had the same problem years ago (, but there's not much there and it didn't help me. Restarting my computer didn't work and source ~/.bashrc didn't help either.

One thing I've done differently is that I've altered the 'move_base.launch' file in '/opt/ros/melodic/share/turtlebot3_navigation/launch/' instead of the 'move_base.launch.xml' in '/opt/ros/hydro/share/turtlebot_navigation/launch/includes' as there doesn't seem to be a destination '...turtlebot_navigation/launch/includes'. There are files in launch, but no includes. Maybe that a difference from Hydro to Melodic, I don't know. There may be a whole lot of things that need to be done differently from the tutorial when using Melodic, or with turtlebot3, but I don't know.

The carrot_planner package I've created (used that code for my .cpp and .h as a test before I would try to make my own) is in '/home/aut/catkin_ws/src/' and have been made with catkin_make. Wasn't sure if I need to move it to ''/opt/ros/melodic/share' or something.

Using this tutorial ( to guide me with turtlebot3, and after running 'roslaunch turtlebot3_gazebo turtlebot3_world.launch' it was then this command that led to the error 'roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml'. I have created the map-yaml, so there's no misunderstanding whether that's missing.

I would be very glad for any help, thank you ^^

PS: While studying this problem before coming here I noted some talk about 'launching move_base' and it's also mentioned in part 3 of the tutorial. Whether that's my problem I don't know. I would think that 'roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml' this command covered it since inside 'turtlebot3_navigation.launch' it says:

  <!-- move_base -->
  <include file="$(find turtlebot3_navigation)/launch/move_base.launch">
    <arg name="model" value="$(arg model)" />
    <arg name="move_forward_only" value="$(arg move_forward_only)"/>
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