Failed to get a Voronoi layer for Voronoi planner

[yuchuxiang]

博主你好，我在使用这个全局路径规划算法的时候出现这种情况：
[ERROR] [1652271648.337381955, 2208.043000000]: Failed to get a Voronoi layer for Voronoi planner

我是用turtlebot的仿真实验环境。
我的move_base.launch:
`

<param name="base_local_planner" value="dwa_local_planner/DWAPlannerROS" />

<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
<rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />

<rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
<rosparam file="$(find turtlebot3_navigation)/param/dwa_local_planner_params_$(arg model).yaml" command="load" />
<remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<param name="DWAPlannerROS/min_vel_x" value="0.0" if="$(arg move_forward_only)" />

`

我的navigation.launch：
`

`

想请教您一下我的这个问题出在哪，感谢、

[nkuwenjian]

@yuchuxiang 您好，首先请确认在ROS工作空间中已安装并编译了voronoi_layer的程序包https://github.com/nkuwenjian/voronoi_layer

此外，在global_costmap_params.yaml文件中，需要添加voronoi_layer插件的使用，具体请看README最后的说明。

希望这些能帮到您。