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(sorry for the first email, we sent it by accident)<br>
<br>
Hello,<br>
<br>
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:<br>
<br>
rospack plugins --attrib=plugin nav_core<br>
<br>
we get the following error:<br>
<br>
[rospack] warning: couldn't find dependency [erratic_player] of [wu_robots]<br>
[rospack] warning: couldn't find dependency [wavefront] of [wu_robots]<br>
[rospack] warning: couldn't find dependency [opencv_latest] of [face_detection_comparer]<br>
[rospack] warning: couldn't find dependency [nav_robot_actions] of [move_base_client]<br>
[rospack] warning: couldn't find dependency [audio_msgs] of [skype_bridge]<br>
[rospack] warning: couldn't find dependency [audio_capture] of [skype_bridge]<br>
find: `pathfinder': No such file or directory<br>
[rospack] warning: got non-zero exit status from executing backquote expression "ret="$(find pathfinder)/global_planner_plugin.xml" && echo $ret" in [/project/robotics/users/jim/ros/wu-ros-pkg/Jim_stuff/pathfinder/manifest.xml]<br>
[rospack] error in backquote expansion for nav_core<br>
<br>
<br>
Here is our class_list.cpp file:<br>
<br>
#include <pluginlib/class_list_macros.h><br>
#include <nav_core/base_global_planner.h><br>
#include "global_planner.h"<br>
<br>
PLUGINLIB_REGISTER_CLASS(GlobalPlanner, GlobalPlanner, nav_core::BaseGlobalPlanner)
<br>
<br>
<br>
Here is our plugin description file:<br>
<br>
<library path="lib/libpathfinder"><br>
<class name="pathfinder/GlobalPlanner" type="GlobalPlanner" base_class_type="nav_core::BaseGlobalPlanner"><br>
<description><br>
This is a global planner plugin<br>
</description><br>
</class><br>
</library><br>
<br>
<br>
<br>
And here is our export statement: <br>
<br>
<export><br>
<nav_core plugin="$(find pathfinder)/global_planner_plugin.xml"/><br>
</export><br>
<br>
<br>
Any ideas about what might be the problem? Any help would be greatly appreciated.<br>
Thanks!<br>
<br>
<br>
<br>
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