ROS2_Navigation报错：nav2_amcl::MotionModel does not exist【已解决】

使用Ubuntu22.04-Humble调试navigation2时发现Amcl节点有报错。现备份一个解决办法，希望也能帮到正在开发NAV2的朋友~

问题复现

复现步骤为
1、启动导航：

export TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py

export TURTLEBOT3_MODEL=waffle
ros2 launch rtabmap_ros turtlebot3_scan.launch.py

ros2 launch nav2_bringup bringup_launch.py map:=<full_path_to_your_map_name.yaml> open_rviz:=true

在运行第三条指令时终端出现报错：
Original error: According to the loaded plugin descriptions the class DifferentialMotionModel with base class type nav2_amcl::MotionModel does not exist. Declared types are nav2_amcl::DifferentialMotionModel nav2_amcl::OmniMotionModel

解决办法

解决办法为：

确认参数文件

打开bringup_launch.py源码，（我这里的navigation2_humble是源码编译的，所以源码路径为~/ros2_ws/src/navigation2_humble/nav2_bringup/bringup_launch.py），找到params_file参数，这里可以确认调用的参数为nav2_bringup功能包中的params路径下的nav2_params.yaml文件。

修改参数文件

参数文件中，amcl节点使用的robot_model_type参数值为"differential"，需要修改为"nav2_amcl::DifferentialMotionModel"，如下所示

amcl:
  ros__parameters:
    use_sim_time: True
    alpha1: 0.2
    alpha2: 0.2
    alpha3: 0.2
    alpha4: 0.2
    alpha5: 0.2
    base_frame_id: "base_footprint"
    beam_skip_distance: 0.5
    beam_skip_error_threshold: 0.9
    beam_skip_threshold: 0.3
    do_beamskip: false
    global_frame_id: "map"
    lambda_short: 0.1
    laser_likelihood_max_dist: 2.0
    laser_max_range: 100.0
    laser_min_range: -1.0
    laser_model_type: "likelihood_field"
    max_beams: 60
    max_particles: 2000
    min_particles: 500
    odom_frame_id: "odom"
    pf_err: 0.05
    pf_z: 0.99
    recovery_alpha_fast: 0.0
    recovery_alpha_slow: 0.0
    resample_interval: 1
    #robot_model_type: "differential" #修改前
    robot_model_type: "nav2_amcl::DifferentialMotionModel"#修改后
    save_pose_rate: 0.5
    sigma_hit: 0.2
    tf_broadcast: true
    transform_tolerance: 1.0
    update_min_a: 0.2
    update_min_d: 0.25
    z_hit: 0.5
    z_max: 0.05
    z_rand: 0.5
    z_short: 0.05
    scan_topic: scan

修改后在工作空间编译nav2_bringup功能包后即可正常启动NAV2

colcon build --packages-select nav2_bringup