DuongTD/costmap_2d
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update

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This commit is contained in:
duongtd 2025-12-24 17:16:05 +07:00
parent b3be5da393
commit 10521c1629
2 changed files with 9 additions and 5 deletions
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4
CMakeLists.txt
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@ -129,6 +129,10 @@ target_link_libraries(plugins
robot_cpp robot_cpp
) )
set_target_properties(plugins PROPERTIES
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
)
# --- Option để bật/tắt test --- # --- Option để bật/tắt test ---
option(BUILD_COSTMAP_TESTS "Build costmap_2d test executables" ON) option(BUILD_COSTMAP_TESTS "Build costmap_2d test executables" ON)

10
config/costmap_params.yaml
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@ -6,18 +6,18 @@ costmap_2d:
plugins: plugins:
- name: static_layer - name: static_layer
type: create_static_layer type: StaticLayer
- name: inflation_layer - name: inflation_layer
type: create_inflation_layer type: InflationLayer
- name: obstacle_layer - name: obstacle_layer
type: create_obstacle_layer type: ObstacleLayer
- name: voxel_layer - name: voxel_layer
type: create_voxel_layer type: VoxelLayer
path_plugins: ./src/costmap_2d/libplugins.so path_plugins: ./libplugins.so
footprint: footprint:
- [0.3, 0.3] - [0.3, 0.3]
- [0.3, -0.3] - [0.3, -0.3]