報錯：
[FATAL] [1576042404.913706482]: 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
解讀：
報錯are you sure it is properly registered and that the containing library is built？意思是說你確認庫安裝了嗎？
按照這個問題，看前面那句Failed to create the global_planner/GlobalPlanner planner，推測缺少global_planner包。
解決：
運行指令：
sudo apt-get install ros-kinetic-global-planner
ok，解決。遇到類似的錯誤都是按照指令的格式安裝。
另外，博主在網上找到了一個一次性全部解決的萬能解決方法，沒試過，供參考：
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
來源：https://blog.csdn.net/shanpenghui/article/details/90026238
因為在原鏈接里復制會自動enter，不方便linux ubuntu里運行，所以copy到這里，更改了格式。使用時直接復制粘貼就可以。