Fixe.

CMakeLists.txt

@@ -18,8 +18,12 @@ find_package(nav2_common REQUIRED)
 find_package(nav2_util REQUIRED)
 
 # SIP/Python stuff
-find_package(PythonInterp 3.0 REQUIRED)
-find_package(PythonLibrary 3.0 REQUIRED)
+#find_package(PythonInterp 3.0 REQUIRED)
+#find_package(PythonLibrary 3.0 REQUIRED)
+#find_package(SIP 4.18.0 REQUIRED)
+
+find_package(PythonInterp 3.10 REQUIRED)
+find_package(PythonLibrary 3.10 REQUIRED)
 find_package(SIP 4.18.0 REQUIRED)
 
 nav2_package()
@@ -36,7 +40,10 @@ set(dependencies
   pluginlib
   nav2_util
   nav2_costmap_2d
-)
+  )
+
+message("LIBS: ${PYTHON_LIBRARY}")
+message("DEPS: ${dependencies}")
 
 add_library(air_navigation SHARED
         src/python_controller.cpp
@@ -44,7 +51,7 @@ add_library(air_navigation SHARED
         src/python_trajectory_critic.cpp
         src/python_trajectory_generator.cpp)
 target_compile_definitions(air_navigation PUBLIC "PLUGINLIB__DISABLE_BOOST_FUNCTIONS")
-target_link_libraries(air_navigation ${PYTHON_LIBRARY}  )
+target_link_libraries(air_navigation ${PYTHON_LIBRARY})
 target_include_directories(air_navigation
   PUBLIC
   /opt/ros/humble/include/nav_2d_msgs

src/python_controller.cpp

@@ -19,7 +19,7 @@ void PythonController::configure(
   std::shared_ptr<nav2_costmap_2d::Costmap2DROS>)
 {
   auto node = parent.lock();
-  RCLCPP_ERROR_STREAM(node->get_logger(), "Configuring Python controller");
+  RCLCPP_ERROR_STREAM(node->get_logger(), "****************** Configuring Python controller");
 
   nav2_util::declare_parameter_if_not_declared(node, name + ".module", rclcpp::ParameterValue(""));
   nav2_util::declare_parameter_if_not_declared(node, name + ".class", rclcpp::ParameterValue(""));
@@ -65,6 +65,7 @@ geometry_msgs::msg::TwistStamped PythonController::computeVelocityCommands(
     nav2_core::GoalChecker * goal)
 {
   python_lock pl;
+  
   if(m_python_controller_interface)
   {
     py_interface::PoseStamped py_pose;
@@ -86,6 +87,7 @@ geometry_msgs::msg::TwistStamped PythonController::computeVelocityCommands(
 void PythonController::setPlan(const nav_msgs::msg::Path & path)
 {
   python_lock pl;
+
   if(m_python_controller_interface)
   {
     py_interface::Path py_path;