最近在做局部规划器方面的研究，需要用到ros中的dwb_local_planner，虽然在ros中有官方给出的包，但我直接使用sudo apt-get install ros-melodic-dwb-local-planner-dev安装之后无法使用，原因可能是因为虽然dwb_local_planner本身虽然是个基于base_local_planner的插件，但是其本身的实现使用了David.Lu自己编写的插件，这部分在安装官方给到的local planner时并没有提供，所以导致出现各种错误(如常见错误)。因此在这里记录一下自己如何解决的dwb_local_planner使用问题。

常见错误

Failed to create the nav_core_adapter::LocalPlannerAdapter planner, are you sure it is properly registered and that the containing library is built? Exception: Could not find library corresponding to plugin mir_dwb_critics::PathDistPrunedCritic.

Installation

1. sudo apt install ros-$ROS_DISTRO-nav-core-adapter
sudo apt install ros-$ROS_DISTRO-nav-core2
sudo apt install ros-$ROS_DISTRO-dwb-local-planner(以防万一缺少包)
   其中$ROS_DISTRO为当前ROS版本号
2. 请访问David.Lu的Github将robot_navigation包git clone到工作目录下，之后执行catkin_make进行编译。

Configuration

move_base configuration(launch)：

<param name="base_local_planner" value="nav_core_adapter::LocalPlannerAdapter" />
<param name="LocalPlannerAdapter/planner_name" value="dwb_local_planner::DWBLocalPlanner" />

对应dwa配置中的

 <param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />

yaml:

base_local_planner: nav_core_adapter::LocalPlannerAdapter
LocalPlannerAdapter: 
  planner_name: dwb_local_planner::DWBLocalPlanner
 
DWBLocalPlanner:

其余参数与dwa相同。
local_costmap:

plugins:
	-{name: costmap_ros, type: "nav_core_adapter::CostmapAdapter"}
	-{name: laser_horizontal_layer, type: "costmap_2d::ObstacleLayer"}
	-{name: laser_cliff_layer, type: "costmap_2d::VoxelLayer"}
	-{name: inflation_layer, type: "costmap_2d::InflationLayer"}

之后按照正常的导航流程走就可以啦