teb planner error

roslaunch teb_local_planner_tutorials robot_diff_drive_in_stage.launch
的时候遇到下面问题：

[FATAL] [1557372871.915458637, 2.200000000]: Failed to create the global_planner/GlobalPlanner planner, are you sure it is properly registered and that the containing library is built? Exception: According to the loaded plugin descriptions the class global_planner/GlobalPlanner with base class type nav_core::BaseGlobalPlanner does not exist. Declared types are  navfn/NavfnROS
[move_base-3] process has died [pid 21753, exit code 1, cmd /opt/ros/kinetic/lib/move_base/move_base __name:=move_base __log:=/home/sph/.ros/log/5944d60a-720b-11e9-939c-3c970ebda4a4/move_base-3.log].
log file: /home/sph/.ros/log/5944d60a-720b-11e9-939c-3c970ebda4a4/move_base-3*.log

原因是相关库没有安装好，可能由于ros2安装影响的原因，根据提示把库安装好就可以使用了。
解决办法，这次比较懒，没有来得及一个个试试，所以直接都安装了，有兴趣的小伙伴可以尝试分部分，就知道哪个库缺失啦，哈哈：

  sudo apt install ros-kinetic-mbf-costmap-core ros-kinetic-mbf-costmap-nav ros-kinetic-move-base-flex
  ros-kinetic-move-base-to-manip ros-kinetic-moveit-kinematics ros-kinetic-moveit-ros-manipulation
  ros-kinetic-moveit-ros-move-group ros-kinetic-moveit-ros-perception ros-kinetic-moveit-ros-planning
  ros-kinetic-moveit-ros-planning-interface ros-kinetic-moveit-ros-warehouse
  ros-kinetic-assisted-teleop ros-kinetic-carrot-planner ros-kinetic-dwa-local-planner ros-kinetic-global-planner
  ros-kinetic-goal-passer ros-kinetic-move-slow-and-clear ros-kinetic-navigation
  ros-kinetic-navigation-experimental ros-kinetic-navigation-layers ros-kinetic-navigation-stage
  ros-kinetic-navigation-tutorials ros-kinetic-pose-follower ros-kinetic-range-sensor-layer
  ros-kinetic-roomba-stage ros-kinetic-sbpl-lattice-planner ros-kinetic-sbpl-recovery
  ros-kinetic-social-navigation-layers ros-kinetic-twist-recovery
  ros-kinetic-assisted-teleop ros-kinetic-carrot-planner ros-kinetic-dwa-local-planner ros-kinetic-global-planner
  ros-kinetic-goal-passer ros-kinetic-move-slow-and-clear ros-kinetic-navigation
  ros-kinetic-navigation-experimental ros-kinetic-navigation-layers ros-kinetic-navigation-stage
  ros-kinetic-navigation-tutorials ros-kinetic-pose-follower ros-kinetic-range-sensor-layer
  ros-kinetic-roomba-stage ros-kinetic-sbpl-lattice-planner ros-kinetic-sbpl-recovery
  ros-kinetic-social-navigation-layers ros-kinetic-twist-recovery
  ros-kinetic-assisted-teleop ros-kinetic-carrot-planner ros-kinetic-dwa-local-planner ros-kinetic-global-planner
  ros-kinetic-goal-passer ros-kinetic-move-slow-and-clear ros-kinetic-navigation
  ros-kinetic-navigation-experimental ros-kinetic-navigation-layers ros-kinetic-navigation-stage
  ros-kinetic-navigation-tutorials ros-kinetic-pose-follower ros-kinetic-range-sensor-layer
  ros-kinetic-roomba-stage ros-kinetic-sbpl-lattice-planner ros-kinetic-sbpl-recovery
  ros-kinetic-social-navigation-layers ros-kinetic-twist-recovery
  ros-kinetic-cost-map ros-kinetic-cost-map-demos ros-kinetic-cost-map-ros ros-kinetic-cost-map-visualisations
  ros-kinetic-costmap-prohibition-layer ros-kinetic-grid-map-costmap-2d ros-kinetic-grid-map-cv
  ros-kinetic-grid-map-ros ros-kinetic-grid-map-visualization

有问题随时欢迎交流