ros2 config_error ai_generated true

[costmap_2d] Unknown layer type specified: 'inflation_layer' in plugin list

ID: ros2/nav2-costmap-inflator-unknown-layer

Also available as: JSON · Markdown · 中文
90%Fix Rate
87%Confidence
1Evidence
2023-08-05First Seen

Version Compatibility

VersionStatusIntroducedDeprecatedNotes
Nav2 (Humble, Iron, Rolling) active — — —
costmap_2d plugin version 2.0.0+ active — — —

Root Cause

The costmap configuration YAML file lists 'inflation_layer' as a plugin, but the plugin name is misspelled or the plugin is not registered in the costmap's plugin list.

generic

中文

代价地图配置文件YAML中将'inflation_layer'列为插件，但插件名称拼写错误或插件未在代价地图的插件列表中注册。

Official Documentation

https://navigation.ros.org/configuration/index.html#costmap-2d-plugins

Workarounds

  1. 95% success Correct the layer name in the YAML file: change 'inflation_layer' to 'inflation_layer' (note: the correct name is 'inflation_layer', not 'inflation'). Also ensure the plugin list includes: plugins: ['obstacle_layer', 'inflation_layer', 'static_layer'] 
    Correct the layer name in the YAML file: change 'inflation_layer' to 'inflation_layer' (note: the correct name is 'inflation_layer', not 'inflation'). Also ensure the plugin list includes: plugins: ['obstacle_layer', 'inflation_layer', 'static_layer']
  2. 80% success If using a custom layer, register it with pluginlib and add it to the costmap's plugin list in the YAML. 
    If using a custom layer, register it with pluginlib and add it to the costmap's plugin list in the YAML.

中文步骤

  1. 在YAML文件中更正层名称：将'inflation_layer'改为'inflation_layer'（注意：正确名称是'inflation_layer'，不是'inflation'）。同时确保插件列表包括：plugins: ['obstacle_layer', 'inflation_layer', 'static_layer']
  2. 如果使用自定义层，请使用pluginlib注册它，并在YAML的插件列表中添加它。

Dead Ends

Common approaches that don't work:

  1. Reinstall nav2_costmap_2d package 70% fail

    The plugin is included by default; the issue is a configuration typo, not a missing package.

  2. Add the layer to the plugins list with a different name 90% fail

    The plugin name must exactly match the registered class name 'inflation_layer'.