# asr_ftc_local_planner
## tutorialasr_ftc_local_planner tutorial
tips: 1. 使用1.14.x版本的navigation库(目前没有问题1.14.7版本) 2. 将navigation文件夹和asr_ftc_local_planner同级放入文件夹src目录下
## problem & solution
1. Problem1: 'tf2_buffer_' was not declared in this scope (navigation版本1.14.9) Solution: 参考[ROS- 解决error “tf2_buffer_’ was not declared in this scope”_ゃ﹏淸凨ゞ-CSDN博客] 更换 inline tf2_ros::Buffer& getBuffer() { return tf2_buffer_; } 为 inline std::shared_ptr<tf2_ros::Buffer> &getBuffer() {return tf2_buffer_ptr_;} 更换 tf_->getBuffer().setTransform(tf_msg->transforms[ii], "rosbag_authority"); 为 tf_->getBuffer()->setTransform(tf_msg->transforms[ii], "rosbag_authority");
2. Problem2: 'global_costmap_ros_' was not declared in this scope Solution: 参考https://github.com/asr-ros/asr_ftc_local_planner/issues/2 在nav_core/include/base_local_planner.h中加入protected变量costmap_2d::Costmap2DROS* global_costmap_ros;
3. Problem3: move_base_msgs/RecoveryStatus.h没有文件或目录 (navigation版本1.14.9) Solution: 更换navigation版本为1.14.7，此版本move_base.cpp该文件不包括该文件
# dwb_local_planner
## tutorialhttps://github.com/locusrobotics/robot_navigation
配置参考DWB Controller — Navigation 2 1.0.0 documentation tips: asr_ftc_local_planner因navigation版本问题无法与dwb_local_planner编译和使用同一工作空间
[asr_tutorial]: http://wiki.ros.org/asr_ftc_local_planner/SetupNavigationForFTCPlanner