ROS2+NAV2跑nav2_straightline_planner例子时报错Failed to create global planner

跑ROS2+NAV2中的nav2_straightline_planner例子时报错：

Failed to create global planner. Exception: According to the loaded plugin descriptions the class nav2_straightline_planner/StraightLine with base class type nav2_core::GlobalPlanner does not exist. Declared types are nav2_navfn_planner/NavfnPlanner nav2_smac_planner/SmacPlanner2D nav2_smac_planner/SmacPlannerHybrid nav2_smac_planner/SmacPlannerLattice nav2_theta_star_planner/ThetaStarPlanner

是由于没有安装global-panner导致的，进行安装：

#填入你自己的ROS版本
##例如kinetic
sudo apt-get install ros-kinetic-global-planner
##例如humble
sudo apt-get install ros-humble-global-planner

重新编译运行即可。

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来自：上海代数律动技术有限公司