Re: [ros-users] making a Base Global Planner plugin

Hi James,
The problem you are having is that you are useing $(find pathfinder)
instead of ${prefix} in your export.

PS. If you are using the boxturtle version of pluginlib I just fixed a
typo on the wiki that the class_name should be GlobalPlanner instead of
pathfinder/GlobalPlanner

PPS I would recommend a less generic name than GlobalPlanner. Remember
that if you choose a name like that no one else can use that same name.
A good name usually will refer to what makes the planner unique,
something like AlgorithmNameGlobalPlanner would be a good template.

Tully



Stevens, James wrote:
>
> (sorry for the first email, we sent it by accident)
>
> 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:
>
> #include <pluginlib/class_list_macros.h>
> #include <nav_core/base_global_planner.h>
> #include "global_planner.h"
>
> PLUGINLIB_REGISTER_CLASS(GlobalPlanner, GlobalPlanner,
> nav_core::BaseGlobalPlanner)
>
>
> Here is our plugin description file:
>
> <library path="lib/libpathfinder">
> <class name="pathfinder/GlobalPlanner" type="GlobalPlanner"
> base_class_type="nav_core::BaseGlobalPlanner">
> <description>
> This is a global planner plugin
> </description>
> </class>
> </library>
>
>
>
> And here is our export statement:
>

>     <export>
>         <nav_core plugin="$(find pathfinder)/global_planner_plugin.xml"/>
>     </export>

>
>
> Any ideas about what might be the problem? Any help would be greatly
> appreciated.
> Thanks!
>
>
>
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