udpdate

config/costmap_global_params.yaml

@@ -1,5 +1,6 @@
 global_costmap:
-  path_plugins: /home/robotics/AGV/Diff_Wheel_Prj/pnkx_nav_core/build/src/Libraries/costmap_2d/libplugins.so
+  library_path: libplugins
+  robot_base_frame: base_footprint
   global_frame: map
   update_frequency: 1.0
   publish_frequency: 1.0

config/costmap_local_params.yaml

@@ -1,6 +1,7 @@
 local_costmap:  
-  path_plugins: /home/robotics/AGV/Diff_Wheel_Prj/pnkx_nav_core/build/src/Libraries/costmap_2d/libplugins.so
+  library_path: libplugins
   global_frame: odom
+  robot_base_frame: base_footprint
   update_frequency: 6.0
   publish_frequency: 6.0
   rolling_window: true

config/custom_global_params.yaml

@@ -1,5 +1,6 @@
 base_global_planner: CustomPlanner
 CustomPlanner:
+  library_path: libcustom_planner
   environment_type: XYThetaLattice
   planner_type: ARAPlanner
   allocated_time: 10.0
@@ -9,9 +10,6 @@ CustomPlanner:
   nominalvel_mpersecs: 0.8
   timetoturn45degsinplace_secs: 1.31 # = 0.6 rad/s
   allow_unknown: true
-  directory_to_save_paths: "/init/paths"
-  pathway_filename: "pathway.txt"
-  current_pose_topic_name: "/amcl_pose"
-  map_frame_id: "map"
-  base_frame_id: "base_link"
+
+
   

config/move_base_common_params.yaml

@@ -21,4 +21,5 @@ conservative_reset:
 aggressive_reset:
   reset_distance: 3.0
 
-
+MoveBase:
+  library_path: libmove_base

config/two_points_global_params.yaml

@@ -1,3 +1,4 @@
 base_global_planner: TwoPointsPlanner
 TwoPointsPlanner:
+  library_path: libtwo_points_planner
   lethal_obstacle: 20