bt_navigator启动报错：Original error: Could not load library: libnav2_smooth_path_action_bt_node.so

[374870361]

ros2 galactic
Orin jetson nano平台

我的bt_navigator参数设置：

bt_navigator:
  ros__parameters:
    global_frame: map
    robot_base_frame: base_link
    odom_topic: /odom
    bt_loop_duration: 10
    default_server_timeout: 20
    navigators: ["navigate_to_pose", "navigate_through_poses"]
    navigate_to_pose:
      plugin: "nav2_bt_navigator/NavigateToPoseNavigator"
    navigate_through_poses:
      plugin: "nav2_bt_navigator/NavigateThroughPosesNavigator"
    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
    plugin_lib_names:
      - nav2_compute_path_to_pose_action_bt_node
      - nav2_compute_path_through_poses_action_bt_node
      - nav2_smooth_path_action_bt_node
      - nav2_follow_path_action_bt_node
      - nav2_spin_action_bt_node
      - nav2_wait_action_bt_node
      - nav2_assisted_teleop_action_bt_node
      - nav2_back_up_action_bt_node
      - nav2_drive_on_heading_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_globally_updated_goal_condition_bt_node
      - nav2_is_path_valid_condition_bt_node
      - nav2_are_error_codes_active_condition_bt_node
      - nav2_would_a_controller_recovery_help_condition_bt_node
      - nav2_would_a_planner_recovery_help_condition_bt_node
      - nav2_would_a_smoother_recovery_help_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_truncate_path_local_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_path_expiring_timer_condition
      - nav2_distance_traveled_condition_bt_node
      - nav2_single_trigger_bt_node
      - nav2_goal_updated_controller_bt_node
      - nav2_is_battery_low_condition_bt_node
      - nav2_navigate_through_poses_action_bt_node
      - nav2_navigate_to_pose_action_bt_node
      - nav2_remove_passed_goals_action_bt_node
      - nav2_planner_selector_bt_node
      - nav2_controller_selector_bt_node
      - nav2_goal_checker_selector_bt_node
      - nav2_controller_cancel_bt_node
      - nav2_path_longer_on_approach_bt_node
      - nav2_wait_cancel_bt_node
      - nav2_spin_cancel_bt_node
      - nav2_back_up_cancel_bt_node
      - nav2_assisted_teleop_cancel_bt_node
      - nav2_drive_on_heading_cancel_bt_node
      - nav2_is_battery_charging_condition_bt_node

报错信息：

[bt_navigator-6] [ERROR] [1698310229.538125499] []: Caught exception in callback for transition 13
[bt_navigator-6] [ERROR] [1698309361.735674300] []: Original error: Error at line 12: -> Node not recognized: RemovePassedGoals
[bt_navigator-6] [WARN] [1698309361.735721758] []: Error occurred while doing error handling.
[bt_navigator-6] [FATAL] [1698309361.735738942] [bt_navigator]: Lifecycle node bt_navigator does not have error state implemented
[lifecycle_manager-8] [ERROR] [1698309361.736910506] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator

[小鱼]

@374870361 在 bt_navigator启动报错：Original error: Could not load library: libnav2_smooth_path_action_bt_node.so 中说：

[]: Original error: Error at line 12: -> Node not recognized: RemovePassedGoals

RemovePassedGoals 这个找找配置文件

[374870361]

@小鱼 这个配置文件应该在哪里找呢？

[3108096685]

请问这个问题您解决了吗？