DuongTD/costmap_2d
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update from DuongTD

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This commit is contained in:
HiepLM
2026-01-08 10:35:27 +07:00
parent f052dac142
commit 384897b750
15 changed files with 110 additions and 13 deletions
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27
src/costmap_2d_robot.cpp
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@@ -128,6 +128,7 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name, robot::NodeH
robot::PluginLoaderHelper loader;
if (nh.hasParam("rolling_window"))
nh.getParam("rolling_window", rolling_window);
@@ -395,6 +396,7 @@ void Costmap2DROBOT::updateMap()
double x = pose.pose.position.x,
y = pose.pose.position.y,
yaw = data_convert::getYaw(pose.pose.orientation);
// robot::log_error("ROBOT POSE: %f | %f | %f",x,y,yaw);
layered_costmap_->updateMap(x, y, yaw);
robot_geometry_msgs::PolygonStamped footprint;
footprint.header.frame_id = global_frame_;
@@ -498,6 +500,13 @@ bool Costmap2DROBOT::getRobotPose(robot_geometry_msgs::PoseStamped& global_pose)
{
robot_geometry_msgs::PoseStamped robot_pose;
robot_geometry_msgs::Pose pose_default;
pose_default.orientation.x = 0;
pose_default.orientation.y = 0;
pose_default.orientation.z = 0;
pose_default.orientation.w = 1;
pose_default.position.x = 0;
pose_default.position.y = 0;
pose_default.position.z = 0;
global_pose.pose = pose_default;
robot_pose.pose = pose_default;
@@ -509,10 +518,22 @@ bool Costmap2DROBOT::getRobotPose(robot_geometry_msgs::PoseStamped& global_pose)
try
{
// use current time if possible (makes sure it's not in the future)
if (tf_.canTransform(global_frame_, robot_base_frame_, data_convert::convertTime(current_time)))
if (tf_.canTransform(global_frame_, robot_base_frame_, tf3::Time()))
{
tf3::TransformStampedMsg transform = tf_.lookupTransform(global_frame_, robot_base_frame_, data_convert::convertTime(current_time));
tf3::TransformStampedMsg transform = tf_.lookupTransform(global_frame_, robot_base_frame_,tf3::Time());
tf3::doTransform(robot_pose, global_pose, transform);
// robot::log_error("%s ||| %f | %f | %f ||| %f | %f | %f | %f", transform.child_frame_id.c_str(),
// global_pose.pose.position.x,
// global_pose.pose.position.y,
// global_pose.pose.position.z,
// global_pose.pose.orientation.x,
// global_pose.pose.orientation.y,
// global_pose.pose.orientation.z,
// global_pose.pose.orientation.w);
// transform.transform.rotation.x,
// transform.transform.rotation.y,
// transform.transform.rotation.z,
// transform.transform.rotation.w);
}
// use the latest otherwise
else
@@ -521,7 +542,7 @@ bool Costmap2DROBOT::getRobotPose(robot_geometry_msgs::PoseStamped& global_pose)
tf3::TransformStampedMsg transform = tf_.lookupTransform(
global_frame_, // frame đích
robot_base_frame_, // frame nguồn
data_convert::convertTime(robot_pose.header.stamp)
tf3::Time()
);
tf3::doTransform(robot_pose, global_pose, transform);
}