HiepLM update

plugins/directional_layer.cpp

@@ -19,7 +19,7 @@ namespace costmap_2d
   
   DirectionalLayer::~DirectionalLayer() {}
 
-  bool DirectionalLayer::laneFilter(const std::vector<geometry_msgs::PoseStamped> plan)
+  bool DirectionalLayer::laneFilter(const std::vector<robot_geometry_msgs::PoseStamped> plan)
   {
     if (directional_areas_.empty())
       throw "Has no map data";
@@ -119,13 +119,13 @@ namespace costmap_2d
     std::vector<std::pair<unsigned int, double>> X_List, Y_List;
     std::vector<double> Yaw_list;
 
-    const geometry_msgs::PoseStamped &e = path.poses.back();
+    const robot_geometry_msgs::PoseStamped &e = path.poses.back();
     
     bool get_success = getRobotPose(pose_x_, pose_y_, pose_yaw_);
     if(!get_success) return false;
     for (auto it = path.poses.begin(); it != path.poses.end(); ++it)
     {
-      const geometry_msgs::PoseStamped &p = *it; // Get the pose from the iterator
+      const robot_geometry_msgs::PoseStamped &p = *it; // Get the pose from the iterator
       unsigned int mx, my;
       if (!worldToMap(p.pose.position.x, p.pose.position.y, mx, my))
       {

plugins/static_layer.cpp

@@ -343,7 +343,7 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
     unsigned int mx, my;
     double wx, wy;
     // Might even be in a different frame
-    // geometry_msgs::TransformStamped transform;
+    // robot_geometry_msgs::TransformStamped transform;
     tf3::TransformStampedMsg transformMsg;
     try
     {

plugins/voxel_layer.cpp

@@ -406,7 +406,7 @@ void VoxelLayer::raytraceFreespace(const Observation& clearing_observation, doub
 
       // if (publish_clearing_points)
       // {
-        geometry_msgs::Point32 point;
+        robot_geometry_msgs::Point32 point;
         point.x = wpx;
         point.y = wpy;
         point.z = wpz;