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magazino / move_base_flex

Move Base Flex: a backwards-compatible replacement for move_base
https://uos.github.io/mbf_docs/
BSD 3-Clause "New" or "Revised" License
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MBF ROS Testing v 0.4.0 Costmap library load exception #280

Closed FabianSchurig closed 2 years ago

FabianSchurig commented 2 years ago

With the latest ROS Testing release version 0.4.0 we face the following error:

image - 2021-10-27T224429 244

terminate called after throwing an instance of 'pluginlib::CreateClassException'
 what(): MultiLibraryClassLoader: Could not create object of class type costmap_2d::StaticLayer as no factory exists for it

The error is thrown after there is a map -> base_link transform from our SLAM as well as a /map. So after mbf tries to create the costmap layer plugin.

global_costmap:
  plugins:
    - { name: static_layer, type: "costmap_2d::StaticLayer" }
<launch>
  <node pkg="mbf_costmap_nav" type="mbf_costmap_nav" respawn="true" name="move_base_flex">
    <rosparam file="$(find <config_package>)/costmap_config/global.yaml" command="load"/>
  </node>
</launch>

Do you face a similar behavior?

spuetz commented 2 years ago

Sorry, but I cannot reproduce the error. Which ROS distro are you using?

FabianSchurig commented 2 years ago

Thanks for checking. Using noetic. It works now.

Seemed to be an API break with our costmap_2d version. Redeployed mbf, works now.