DuongTD/costmap_2d
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

fix core dumped err when loadplugin

Browse Source
This commit is contained in:
duongtd
2025-12-01 17:34:23 +07:00
parent 2439f2a71d
commit 11ff1baa79
34 changed files with 1177 additions and 760 deletions
Download Patch File Download Diff File Expand all files Collapse all files

43
src/costmap_2d_robot.cpp
View File

@@ -48,6 +48,8 @@
#include <tf3/utils.h>
#include <exception>
#include <boost/dll/import.hpp>
using namespace std;
namespace costmap_2d
@@ -97,19 +99,19 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
robot::Time last_error = robot::Time::now();
std::string tf_error;
// 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))
{
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",
robot::Time::now().toSec(), robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
last_error = robot::Time::now();
}
// 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.
tf_error.clear();
}
// // 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))
// {
// 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",
// robot::Time::now().toSec(), robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
// last_error = robot::Time::now();
// }
// // 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.
// tf_error.clear();
// }
// check if we want a rolling window version of the costmap
bool rolling_window, track_unknown_space, always_send_full_costmap;
@@ -121,10 +123,10 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
struct PluginInfo { std::string path; std::string name; };
std::vector<PluginInfo> plugins_to_load = {
{"./costmap_2d/libstatic_layer.so", "static_layer"},
{"./costmap_2d/libinflation_layer.so", "inflation_layer"},
{"./costmap_2d/libobstacle_layer.so", "obstacle_layer"},
{"./costmap_2d/libpreferred_layer.so", "preferred_layer"}
{"./costmap_2d/libstatic_layer.so", "create_static_layer"},
{"./costmap_2d/libinflation_layer.so", "create_inflation_layer"},
{"./costmap_2d/libobstacle_layer.so", "create_obstacle_layer"},
{"./costmap_2d/libpreferred_layer.so", "create_preferred_layer"}
};
// if (private_nh.hasParam("plugins"))
@@ -140,10 +142,11 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
try
{
// copyParentParameters(pname, type, private_nh);
auto creator = boost::dll::import_alias<PluginLayerPtr()>(
info.path, "create_plugin", boost::dll::load_mode::append_decorations
creators_.push_back(
boost::dll::import_alias<PluginLayerPtr()>(
info.path, info.name, boost::dll::load_mode::append_decorations)
);
PluginLayerPtr plugin = creator();
PluginLayerPtr plugin = creators_.back()();
std::cout << "Plugin created: " << info.name << std::endl;
plugin->initialize(layered_costmap_, info.name, &tf_);
layered_costmap_->addPlugin(plugin);