update from DuongTD

2026-01-08 10:35:27 +07:00
parent f052dac142
commit 384897b750
15 changed files with 110 additions and 13 deletions
--- a/include/robot_costmap_2d/directional_layer.h
+++ b/include/robot_costmap_2d/directional_layer.h
@@ -14,6 +14,11 @@ namespace robot_costmap_2d
    bool laneFilter(const std::vector<robot_geometry_msgs::PoseStamped> plan);
    void resetMap();

+    LayerType getType() const override
+    {
+        return LayerType::DIRECTIONAL_LAYER;
+    }
+    
 	private:
    void incomingMap(const robot_nav_msgs::OccupancyGrid &new_map);
 		bool laneFilter(std::vector<std::array<uint16_t, 2>> new_map, const robot_nav_msgs::Path path);