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/obstacle_layer.h
+++ b/include/robot_costmap_2d/obstacle_layer.h
@@ -57,6 +57,7 @@ namespace robot_costmap_2d
 {
 struct CallBackInfo
 {
+  std::string observation_source;
  std::string data_type;
  std::string topic;
  bool inf_is_valid;
@@ -84,6 +85,11 @@ public:
  void addStaticObservation(robot_costmap_2d::Observation& obs, bool marking, bool clearing);
  void clearStaticObservations(bool marking, bool clearing);

+  LayerType getType() const override
+  {
+      return LayerType::OBSTACLE_LAYER;
+  }
+  
 protected:
  void handleImpl(const void* data, 
                  const std::type_info&,