[move_base-24] process has died [exit code -6, cmd lib/move_base/move_base odom:=mobile_base_control

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于 2021-12-22 23:04:30 发布 · 6.3k 阅读

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#机器人导航 #move_base #rangesensolayer #costmap_2d

在尝试使用TIAGo机器人进行SLAM时，遇到`range_sensor_layer::RangeSensorLayer`加载失败的问题，报`pluginlib::LibraryLoadException`错误。通过安装缺少的`range_sensor_layer`和`costmap_2d` ROS包，成功解决TIAGo机器人加载和导航问题。

尝试使用TIAGo机器人进行SLAM时，运行 roslaunch tiago_2dnav_gazebo tiago_mapping.launch public_sim:=true 指令时加载TIAGo机器人失败，报错：terminate called after throwing an instance of 'pluginlib::LibraryLoadException' what(): According to the loaded plugin descriptions the class range_sensor_layer::RangeSensorLayer with base class type costmap_2d::Layer does not exist. Declared types are costmap_2d::InflationLayer costmap_2d::ObstacleLayer costmap_2d::StaticLayer costmap_2d::VoxelLayer
[move_base-24] process has died [pid 25956, exit code -6, cmd /opt/ros/kinetic/lib/move_base/move_base odom:=mobile_base_controller/odom cmd_vel:=nav_vel __name:=move_base __log:=/home/lhj/.ros/log/edbf89e2-6330-11ec-8a0c-907841bf18b9/move_base-24.log].
log file: /home/lhj/.ros/log/edbf89e2-6330-11ec-8a0c-907841bf18b9/move_base-24*.log