From 0344c31e5b4185da41bfb253db720d9c91b802bd Mon Sep 17 00:00:00 2001
From: duongtd <tdd149cm@gmail.com>
Date: Thu, 25 Dec 2025 11:06:15 +0700
Subject: [PATCH] update

---
 config/costmap_params.yaml            | 2 +-
 include/costmap_2d/costmap_2d_robot.h | 1 +
 src/costmap_2d_robot.cpp              | 9 ++++++---
 3 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/config/costmap_params.yaml b/config/costmap_params.yaml
index 095cc59..f24eb96 100644
--- a/config/costmap_params.yaml
+++ b/config/costmap_params.yaml
@@ -17,7 +17,7 @@ costmap_2d:
     - name: voxel_layer
       type: VoxelLayer
 
-  path_plugins: ./libplugins.so
+  library_path: ./libplugins.so
   footprint:
     - [0.3, 0.3]
     - [0.3, -0.3]
diff --git a/include/costmap_2d/costmap_2d_robot.h b/include/costmap_2d/costmap_2d_robot.h
index cdc83f8..8c335fa 100755
--- a/include/costmap_2d/costmap_2d_robot.h
+++ b/include/costmap_2d/costmap_2d_robot.h
@@ -54,6 +54,7 @@
 #include <xmlrpcpp/XmlRpcValue.h>
 
 #include <robot/node_handle.h>
+#include <robot/plugin_loader_helper.h>
 class SuperValue : public XmlRpc::XmlRpcValue
 {
 public:
diff --git a/src/costmap_2d_robot.cpp b/src/costmap_2d_robot.cpp
index ad50750..6086daa 100644
--- a/src/costmap_2d_robot.cpp
+++ b/src/costmap_2d_robot.cpp
@@ -124,7 +124,10 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name, robot::NodeH
     // check if we want a rolling window version of the costmap
     bool rolling_window = loadParam(layer, "rolling_window", false);
     bool track_unknown_space = loadParam(layer, "track_unknown_space", false);
-    std::string path_plugins = loadParam(layer, "path_plugins", std::string(" "));
+    std::string path_plugins = loadParam(layer, "library_path", std::string(" "));
+
+    robot::PluginLoaderHelper loader;
+    
 
     if (nh.hasParam("rolling_window"))
       nh.getParam("rolling_window", rolling_window);
@@ -132,8 +135,8 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name, robot::NodeH
     if (nh.hasParam("track_unknown_space"))
       nh.getParam("track_unknown_space", track_unknown_space);
 
-    if (nh.hasParam("path_plugins"))
-      nh.getParam("path_plugins", path_plugins);
+    if (nh.hasParam("library_path"))
+      path_plugins = loader.findLibraryPath(name_);
 
     layered_costmap_ = new LayeredCostmap(global_frame_, rolling_window, track_unknown_space);