added PLUGINLIB_EXPORT_CLASS

memristor · Apr 3, 2023 · 1458c0d · 1458c0d
1 parent d9f2b65
commit 1458c0d
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/mep3_navigation/params/nav2_params_big.yaml b/mep3_navigation/params/nav2_params_big.yaml
@@ -184,6 +184,7 @@
       plugin: "nav2_behaviors/Wait"
     move:
       plugin: "mep3_navigation::MoveBehavior"
+      plugin: "mep3_navigation::StuckBehavior"
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1
@@ -192,7 +193,7 @@
     min_rotational_vel: 0.4
     rotational_acc_lim: 3.2
     simulate_ahead_time: 0.3
-    
+
     # Move
     simulate_ahead_distance: 0.2
     debouncing_duration: 0.05

diff --git a/mep3_navigation/src/stuck_behavior/stuck_behavior.cpp b/mep3_navigation/src/stuck_behavior/stuck_behavior.cpp
@@ -1,5 +1,5 @@
 #include "mep3_navigation/stuck_behavior/stuck_behavior.hpp"
-
+#include "pluginlib/class_list_macros.hpp"
 
 mep3_navigation::StuckBehavior::StuckBehavior() :
   nav2_behaviors::TimedBehavior<ActionT>()
@@ -19,3 +19,6 @@ nav2_behaviors::Status mep3_navigation::StuckBehavior::onCycleUpdate()
   RCLCPP_INFO(this->logger_, "onCycleUpdate successful!");
   return nav2_behaviors::Status::RUNNING;
 }
+
+PLUGINLIB_EXPORT_CLASS(mep3_navigation::StuckBehavior, nav2_core::Behavior)
+