How to load Recovery Behaviors?

[jack162]

When I set a goal for my real robot. It moves a while and stop with some problems.

[ERROR] [1616142355.497759323]: Received plan with zero length [ WARN] [1616142355.497839757]: Could not transform the global plan to the frame of the controller [ WARN] [1616142355.498061408]: The controller has been aborted after it exceeded the patience time [ WARN] [1616142355.498568957]: No Recovery Behaviors loaded! [ WARN] [1616142355.498666272]: Abort the execution of the controller: Controller failed

It seems like i didn't load the Recovery Behaviors. Could anyone told me how to load it? thanks a lot.

Here is my params files. [move_base.yaml] planners:

• name: 'navfn/NavfnROS' type: 'navfn/NavfnROS'

controllers:

• name: 'base_local_planner/TrajectoryPlannerROS' type: 'base_local_planner/TrajectoryPlannerROS'

controller_frequency: 5.0 controller_patience: 3.0

planner_frequency: 1.0 planner_patience: 5.0

oscillation_timeout: 10.0 oscillation_distance: 0.2

[spuetz]

Try to add this in your move_base.yaml

recovery_behaviors:
  - name: 'rotate_recovery'
    type: 'rotate_recovery/RotateRecovery'
  - name: 'clear_costmap'
    type: 'clear_costmap_recovery/ClearCostmapRecover

[jack162]

@spuetz Thanks for ur help! I add it and get following ERROR.

[FATAL] [1616143544.232688643]: Failed to load the clear_costmap_recovery/ClearCostmapRecover recovery behavior, are you sure it's properly registered and that the containing library is built? According to the loaded plugin descriptions the class clear_costmap_recovery/ClearCostmapRecover with base class type mbf_costmap_core::CostmapRecovery does not exist. Declared types are According to the loaded plugin descriptions the class clear_costmap_recovery/ClearCostmapRecover with base class type nav_core::RecoveryBehavior does not exist. Declared types are clear_costmap_recovery/ClearCostmapRecovery rotate_recovery/RotateRecovery [ERROR] [1616143544.232726549]: Could not load the plugin with the name "clear_costmap" and the type "clear_costmap_recovery/ClearCostmapRecover"!

and I try to check if I have clear_costmap_recovery pkg. and it indeeds has. /opt/ros/kinetic/share/clear_costmap_recovery

[spuetz]

Follow the instructions in the error. Of course you have to install the plugins, e.g. sudo apt install ros-melodic-clear-costmap-recovery, and sudo apt install ros-melodic-rotate-recovery.

[jack162]

oh it has work! Thank you very much.