版本为20 foxy
使用 bringup 里的文件修改 ,加载地图后 ,设置 单导航点时 报错, 错误为:

[bt_navigator-7] [INFO] [1668857731.744059850] [bt_navigator]: Begin navigating from current location to (0.84, 1.21)
[bt_navigator-7] [ERROR] [1668857731.744219084] [bt_navigator]: Action server failed while executing action callback: "One of the children of a DecoratorNode or ControlNode is nullptr"
[bt_navigator-7] [WARN] [1668857731.744248940] [bt_navigator]: [navigate_to_pose] [ActionServer] Aborting handle.

我看 Wiki 里面有人与我的问题一致,似乎它是通过修改 plugin_lib_names 来解决的 ,但是我不知道我这是缺少啥。

我的 plugin_lib_names 为:

plugin_lib_names:
    - nav2_compute_path_to_pose_action_bt_node
    - nav2_follow_path_action_bt_node
    - nav2_back_up_action_bt_node
    - nav2_spin_action_bt_node
    - nav2_wait_action_bt_node
    - nav2_clear_costmap_service_bt_node
    - nav2_is_stuck_condition_bt_node
    - nav2_goal_reached_condition_bt_node
    - nav2_goal_updated_condition_bt_node
    - nav2_initial_pose_received_condition_bt_node
    - nav2_reinitialize_global_localization_service_bt_node
    - nav2_rate_controller_bt_node
    - nav2_distance_controller_bt_node
    - nav2_speed_controller_bt_node
    - nav2_truncate_path_action_bt_node
    - nav2_goal_updater_node_bt_node
    - nav2_recovery_node_bt_node
    - nav2_pipeline_sequence_bt_node
    - nav2_round_robin_node_bt_node
    - nav2_transform_available_condition_bt_node
    - nav2_time_expired_condition_bt_node
    - nav2_distance_traveled_condition_bt_node

还有一点很奇怪,就是在加载地图时,我必须先打开 rviz2 ,设置好 map和 订阅话题,最后打开 导航包,这样才能 加载地图,否则无法加载地图。截图如下: