[ros-users] making a Base Global Planner plugin

Hello,

We would like to write our own path planner and use it as a plugin in the move_base system, replacing the default base_global_planner. We've tried to follow the instructions at http://www.ros.org/wiki/pluginlib, but when we check to see if our plugin is listed for the nav_core plugins with the following command:

rospack plugins --attrib=plugin nav_core

we get the following error:

[rospack] warning: couldn't find dependency [erratic_player] of [wu_robots]
[rospack] warning: couldn't find dependency [wavefront] of [wu_robots]
[rospack] warning: couldn't find dependency [opencv_latest] of [face_detection_comparer]
[rospack] warning: couldn't find dependency [nav_robot_actions] of [move_base_client]
[rospack] warning: couldn't find dependency [audio_msgs] of [skype_bridge]
[rospack] warning: couldn't find dependency [audio_capture] of [skype_bridge]
find: `pathfinder': No such file or directory
[rospack] warning: got non-zero exit status from executing backquote expression "ret="$(find pathfinder)/global_planner_plugin.xml" && echo $ret" in [/project/robotics/users/jim/ros/wu-ros-pkg/Jim_stuff/pathfinder/manifest.xml]
[rospack] error in backquote expansion for nav_core


Here is our class_list.cpp file: