[ros-users] making a Base Global Planner plugin

[Tully Foote]

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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