nav_layer_from_points not working

[David9696]

Hi,

I am to add your nav_layer_from_points plug-in to our robot's global costmap. But we get the following errors:

Using plugin "simplelayer" terminate called after throwing an instance of 'pluginlib::CreateClassException' what(): MultiLibraryClassLoader: Could not create object of class type nav_layer_from_points::NavLayerPoints as no factory exists for it. Make sure that the library exists and was explicitly loaded through MultiLibraryClassLoader::loadLibrary()

My global_costmap.yaml is listed as follows:

global_costmap: global_frame: /map robot_base_frame: /base_footprint update_frequency: 5.0 static_map: true

plugins:

• {name: static_layer, type: "costmap_2d::StaticLayer"}
• {name: obstacle_layer, type: "costmap_2d::ObstacleLayer"}
• {name: inflation_layer, type: "costmap_2d::InflationLayer"}
• {name: simplelayer, type: "nav_layer_from_points::NavLayerPoints"}

Could you please enlighten me how to solve this problem?

Thanks.

[gersonos]

Hi david, have you solved this problem?

I mean, I'm trying to add this layer to my costmap this way, and also by executing the three necessary nodes (cliff_detector, laserscan and depth_sensor_pose) without success. I feel I'm close to have something for local_costmap detecting it. I have exactly the same issue and it's related to some other parameters declared to costmap_2d.

Thanks!

[HUDiwan]

Hey,

You could fix this issue by going into the plugin.xml file and changing

<class type="nav_layer_from_points::NavLayerPoints" base_class_type="costmap_2d::Layer"><description>Uses points information to change the costmap</description> </class>

with,

<class type="nav_layer_from_points::NavLayerFromPoints" base_class_type="costmap_2d::Layer"><description>Uses points information to change the costmap</description></class>

This will solve the issue. The pull request has been made, so it will be fixed on package soon.

Regards, HUDiwan