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locusrobotics / robot_navigation

Spiritual successor to ros-planning/navigation.
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Installing dwb_local_planner with apt install #46

Closed JulianS-Uni closed 5 years ago

JulianS-Uni commented 5 years ago

I am using ros kinetic on an Ubuntu 16.04 64bit. I tried to install dwb_local_planner and nav_core_adapter with sudo apt install ros-kinetic-... which installs both packages cleanly. But then when I tried to use them in my usual navigation stack (the move_base one) I got an error that both package are not initialised as plugins to the nav-core which I could confirm after checking with rospack plugins --attrib=plugin nav_core. Shouldn't those packages register themselves automatically to nav-core as plugins?

I workaround this by downloading the current master (I think its version 2.5) and build them with catkin_make which worked after I deleted all the locomo packages which gave me compilation errors mainly because virtualenv or anything was missing (I think that's another issue).

SteveMacenski commented 5 years ago

it is not a nav_core plugin. https://github.com/locusrobotics/robot_navigation/blob/master/dwb_local_planner/plugins.xml#L3 use the shim https://github.com/locusrobotics/robot_navigation/tree/master/nav_core_adapter

DLu commented 5 years ago

@SteveMacenski is right. Use the documentation in the second link to load the planner into move_base.

JulianS-Uni commented 5 years ago

it is not a nav_core plugin.

Yes you are right dwb_local_planner is not a nav_core plugin but nav_core_adapter should be, right? As i mentioned i got it to work by getting the latest versions from here, i am just curious why the version of nav_core_adapter one can install with apt install is not recognized as a nav_core plugin which i checked with rospack plugins --attrib=plugin whereas nav_core_adapter i got from github is.

DLu commented 5 years ago

The version of nav_core_adapter in the binaries is 0.2.5 as well, so I am confused. My current theory is that maybe if you had done rospack profile then rospack plugins --attrib=plugin nav_core it might have worked, but can't be sure.