Rosanswers logo

I want to do the comparison of global planning methods available in navigation stack. When I change global planner of move_base from navfn to carrot_planner I`m getting following error:

Failed to create the base_local_planner/TrajectoryPlannerROS planner, are you sure it is properly registered and that the containing library is built? Exception: MultiLibraryClassLoader: Could not create class of type base_local_planner::TrajectoryPlannerROS 

[move_base-2] process has died

In order to change planning method I modified the launch file by including this line

<param name="base_global_planner" value="carrot_planner/CarrotPlanner"/>

Why is this happening?

Originally posted by babtu on ROS Answers with karma: 21 on 2013-09-19

Post score: 2

Original comments

Comment by David Lu on 2013-09-20:
Precisely what parameter did you change?

Comment by babtu on 2013-09-25:
I wanted to change global planner of move_base and i followed instructions included in this post http://answers.ros.org/question/39347/how-to-change-global-planner-of-move_base/?answer=39357#post-id-39357

Comment by David Lu on 2013-09-25:
Go back a step. Does your launch file work if you don't include that line?

Comment by babtu on 2013-09-25:
Yes, works like a charm. It also works when i set value to "navfn/NavfnROS" (default planner).

Comment by fmder on 2013-10-04:
I have the same problem. Works great by setting navfn/NavfnROS but dies when using carrot_planner/CarrotPlanner. I'm using ros-groovy.

Comment by BP on 2014-03-17:
I have the same problem. Have you solved it?

Comment by IvanV on 2014-10-14:
Same problem here. Carrot Planner works fine with dwa_local_planner, but I get the same error when trying to use it with base_local_planner.


1 Answer 1


Rosanswers logo

A) Make sure all your planners are built. B) Try this launch file http://pastebin.com/FDxzwxaD (add your own map instead of some_package)

Originally posted by David Lu with karma: 10932 on 2013-10-04

This answer was ACCEPTED on the original site

Post score: 0

Original comments

Comment by aarontan on 2018-06-13:
how do you build the planner?

Comment by David Lu on 2018-06-13:
I meant compile


Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.