DuongTD/costmap_2d
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fix file cmake

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duongtd 2025-12-02 13:03:19 +07:00
parent 747c9697a2
commit 061265a5fb
2 changed files with 15 additions and 14 deletions
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3
CMakeLists.txt
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@ -21,7 +21,6 @@ find_package(Eigen3 REQUIRED) # Thư viện Eigen cho toán học
find_package(Boost REQUIRED COMPONENTS system thread filesystem) # Boost: system, thread, filesystem find_package(Boost REQUIRED COMPONENTS system thread filesystem) # Boost: system, thread, filesystem
find_package(GTest REQUIRED) # Google Test cho unit test find_package(GTest REQUIRED) # Google Test cho unit test
find_package(PCL REQUIRED COMPONENTS common io) # Point Cloud Library find_package(PCL REQUIRED COMPONENTS common io) # Point Cloud Library
find_package(xmlrpcpp REQUIRED) # XML-RPC client/server library
# --- Define macro để dùng trong code --- # --- Define macro để dùng trong code ---
add_definitions(-DCOSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}") add_definitions(-DCOSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
@ -124,6 +123,7 @@ target_link_libraries(plugins
costmap_2d costmap_2d
${Boost_LIBRARIES} ${Boost_LIBRARIES}
yaml-cpp yaml-cpp
robot_time
) )
@ -150,5 +150,6 @@ if(BUILD_COSTMAP_TESTS)
yaml-cpp yaml-cpp
tf3 tf3
GTest::GTest GTest::Main GTest::GTest GTest::Main
robot_time
) )
endif() endif()

26
src/costmap_2d_robot.cpp
View File

@ -99,19 +99,19 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
robot::Time last_error = robot::Time::now(); robot::Time last_error = robot::Time::now();
std::string tf_error; std::string tf_error;
// // we need to make sure that the transform between the robot base frame and the global frame is available // we need to make sure that the transform between the robot base frame and the global frame is available
// while (!tf_.canTransform(global_frame_, robot_base_frame_, tf3::Time::now(), &tf_error)) while (!tf_.canTransform(global_frame_, robot_base_frame_, tf3::Time::now(), &tf_error))
// { {
// if (last_error + robot::Duration(5.0) < robot::Time::now()) if (last_error + robot::Duration(5.0) < robot::Time::now())
// { {
// printf("%f: Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s\n", printf("%f: Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s\n",
// robot::Time::now().toSec(), robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str()); robot::Time::now().toSec(), robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
// last_error = robot::Time::now(); last_error = robot::Time::now();
// } }
// // The error string will accumulate and errors will typically be the same, so the last // The error string will accumulate and errors will typically be the same, so the last
// // will do for the warning above. Reset the string here to avoid accumulation. // will do for the warning above. Reset the string here to avoid accumulation.
// tf_error.clear(); tf_error.clear();
// } }
// check if we want a rolling window version of the costmap // check if we want a rolling window version of the costmap
bool rolling_window, track_unknown_space, always_send_full_costmap; bool rolling_window, track_unknown_space, always_send_full_costmap;