记使用TianBot_Mini实现ROS中的各种local_planner遇到的问题（dwb、asr_ftc）

# asr_ftc_local_planner

## tutorial
asr_ftc_local_planner tutorial

tips: 
1. 使用1.14.x版本的navigation库(当前未出现问题为1.14.7版本)
2. 将navigation文件夹和asr_ftc_local_planner文件夹同级放入src目录下

## problem & solution 

1. Problem1: 'tf2_buffer_' was not declared in this scope (navigation版本1.14.9)
Solution: 参考[ROS- 解决error “tf2_buffer_’ was not declared in this scope”_ゃ﹏淸凨ゞ-CSDN博客]
    更换 inline tf2_ros::Buffer& getBuffer() { return tf2_buffer_; } 为 inline std::shared_ptr<tf2_ros::Buffer> &getBuffer() {return tf2_buffer_ptr_;}
    更换 tf_->getBuffer().setTransform(tf_msg->transforms[ii], "rosbag_authority"); 为 tf_->getBuffer()->setTransform(tf_msg->transforms[ii], "rosbag_authority");

2. Problem2: 'global_costmap_ros_' was not declared in this scope
Solution: 参考https://github.com/asr-ros/asr_ftc_local_planner/issues/2
    在nav_core/include/base_local_planner.h中加入protected变量costmap_2d::Costmap2DROS* global_costmap_ros;

3. Problem3: move_base_msgs/RecoveryStatus.h没有那个文件或目录 (navigation版本1.14.9)
Solution: 更换navigation版本为1.14.7，此版本move_base.cpp文件没有包含该头文件

# dwb_local_planner

## tutorial https://github.com/locusrobotics/robot_navigation

配置参考
​​​​​​DWB Controller — Navigation 2 1.0.0 documentation
tips:
asr_ftc_local_planner因navigation版本问题无法与dwb_local_planner在同一个工作空间中编译使用

[asr_tutorial]: http://wiki.ros.org/asr_ftc_local_planner/SetupNavigationForFTCPlanner