update from DuongTD

include/robot_costmap_2d/layer.h

@@ -45,6 +45,20 @@
 #include <robot/node_handle.h>
 namespace robot_costmap_2d
 {
+
+enum class LayerType
+{
+    UNKNOWN,
+    STATIC_LAYER,
+    OBSTACLE_LAYER,
+    INFLATION_LAYER,
+    CRITICAL_LAYER,
+    DIRECTIONAL_LAYER,
+    PREFERRED_LAYER,
+    UNPREFERRED_LAYER,
+    VOXEL_LAYER
+};
+
 class LayeredCostmap;
 
 class Layer
@@ -134,6 +148,9 @@ public:
   void dataCallBack(const T& value, const std::string& topic) {
       handle(value, topic);
   }
+
+  virtual LayerType getType() const { return LayerType::UNKNOWN; }
+  
 protected:
 
   // Hàm template public, dùng để gửi dữ liệu
@@ -157,7 +174,7 @@ protected:
   bool enabled_;
   std::string name_;
   tf3::BufferCore *tf_;
-
+  
 private:
   std::vector<robot_geometry_msgs::Point> footprint_spec_;
 };