ros2 module_error ai_generated true

[nav2_planner] Failed to initialize costmap layer: 'obstacle_layer' - plugin not found or failed to load

ID: ros2/nav2-planner-failed-to-initialize-costmap-layer

Also available as: JSON · Markdown · 中文
84%Fix Rate
86%Confidence
1Evidence
2024-09-01First Seen

Version Compatibility

VersionStatusIntroducedDeprecatedNotes
Humble active — — —
Iron active — — —
Rolling active — — —

Root Cause

The nav2 costmap layer plugin (e.g., obstacle_layer) is not registered in the pluginlib system, either because the package is not built, the plugin description XML is missing, or the plugin name is misspelled in the costmap configuration.

generic

中文

nav2代价地图层插件（如obstacle_layer）未在pluginlib系统中注册，原因可能是包未构建、缺少插件描述XML，或代价地图配置中插件名称拼写错误。

Official Documentation

https://docs.nav2.org/configuration/packages/costmap-plugins/index.html

Workarounds

  1. 90% success Verify the plugin is registered: run 'ros2 pkg list | grep nav2_costmap_2d' and check the plugin description file in the package share directory: cat $(ros2 pkg prefix nav2_costmap_2d)/share/nav2_costmap_2d/plugins.xml. Ensure the plugin name matches your config. 
    Verify the plugin is registered: run 'ros2 pkg list | grep nav2_costmap_2d' and check the plugin description file in the package share directory: cat $(ros2 pkg prefix nav2_costmap_2d)/share/nav2_costmap_2d/plugins.xml. Ensure the plugin name matches your config.
  2. 85% success If the plugin is from a custom package, ensure the plugin description XML is correctly set up. In the package's CMakeLists.txt: pluginlib_export_plugin_description_file(nav2_costmap_2d plugins.xml). Then rebuild: colcon build --packages-select my_costmap_plugins 
    If the plugin is from a custom package, ensure the plugin description XML is correctly set up. In the package's CMakeLists.txt: pluginlib_export_plugin_description_file(nav2_costmap_2d plugins.xml). Then rebuild: colcon build --packages-select my_costmap_plugins
  3. 80% success In the costmap configuration YAML, use the exact plugin name from the plugins.xml. For example: plugins: [obstacle_layer] and obstacle_layer: {plugin: 'nav2_costmap_2d::ObstacleLayer', ...}. Restart the planner node. 
    In the costmap configuration YAML, use the exact plugin name from the plugins.xml. For example: plugins: [obstacle_layer] and obstacle_layer: {plugin: 'nav2_costmap_2d::ObstacleLayer', ...}. Restart the planner node.

中文步骤

  1. Verify the plugin is registered: run 'ros2 pkg list | grep nav2_costmap_2d' and check the plugin description file in the package share directory: cat $(ros2 pkg prefix nav2_costmap_2d)/share/nav2_costmap_2d/plugins.xml. Ensure the plugin name matches your config.
  2. If the plugin is from a custom package, ensure the plugin description XML is correctly set up. In the package's CMakeLists.txt: pluginlib_export_plugin_description_file(nav2_costmap_2d plugins.xml). Then rebuild: colcon build --packages-select my_costmap_plugins
  3. In the costmap configuration YAML, use the exact plugin name from the plugins.xml. For example: plugins: [obstacle_layer] and obstacle_layer: {plugin: 'nav2_costmap_2d::ObstacleLayer', ...}. Restart the planner node.

Dead Ends

Common approaches that don't work:

  1. 90% fail

    The plugin name must match exactly what is registered in the plugin description XML. A typo or missing package will cause the same error.

  2. 85% fail

    If the plugin is from a custom package, apt-get won't help. You need to build your custom package with colcon and source the workspace.