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BT navigator not recognizing a basic ActionNode #4250
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I don’t immediately see your issue, but you can find a full example in opennav_coverage https://github.com/open-navigation/opennav_coverage of custom external BT nodes for an external server. Hopefully you can find your mistake reviewing that! |
Thanks for your response! I got some questions: Must I create also a action server like your example? I think I mustn't as I'm using the Wait action from nav2? Actually I almost copied that exact example but I think there's a problem registering the node or compiling the library. I know that Nav2 is finding and loading the library "correctly" because if I misspell it on nav2_params.yaml, it says that library isn't found, so it must be with the coding/building step. Maybe am I missing some step related to the plugin.xml file?
This is the complete code scheme:
Could you tell me where can I find fully extended documentation about doing this? Cause the nav2 doc is very basic. |
Sorry, please ask on robot stack exchange or look into the examples yourself in more detail. We don't have the bandwidth to debug every user's errors / misunderstandings. We have plenty of examples and references available so there's no shortage of recipes to look into to find your error. This isn't really a Nav2 issue but a BT.CPP problem understanding of how to build and work with custom plugins, it seems to me. |
Required Info:
Steps to reproduce issue
I created a dummy ActionNode, which compiled with no problems, but when launching nav2 bringup, BT-Navigator doesn´t recognize my custom ActionNode tag on the BT XML
plugins/mss_bt_nodes_plugins.xml:
CMakeLists.txt:
nav2_params (bt_navigator) :
Actual behavior
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