DuongTD/costmap_2d
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duongtd
2025-12-25 11:06:15 +07:00
parent 10521c1629
commit 0344c31e5b
3 changed files with 8 additions and 4 deletions
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9
src/costmap_2d_robot.cpp
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@@ -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);