DuongTD/costmap_2d
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hiep sua ten file

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HiepLM
2025-12-30 09:56:35 +07:00
parent 2c3d7d586d
commit 4246453ae6
14 changed files with 97 additions and 97 deletions
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10
plugins/directional_layer.cpp
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@@ -23,14 +23,14 @@ namespace costmap_2d
{
if (directional_areas_.empty())
throw "Has no map data";
nav_msgs::Path path;
robot_nav_msgs::Path path;
path.header.stamp = robot::Time::now();
path.header.frame_id = map_frame_;
path.poses = plan;
return this->laneFilter(directional_areas_, path);
}
void DirectionalLayer::incomingMap(const nav_msgs::OccupancyGrid& new_map)
void DirectionalLayer::incomingMap(const robot_nav_msgs::OccupancyGrid& new_map)
{
if(!map_shutdown_)
{
@@ -110,7 +110,7 @@ namespace costmap_2d
}
}
bool DirectionalLayer::laneFilter(std::vector<std::array<uint16_t, 2>> new_map, const nav_msgs::Path path)
bool DirectionalLayer::laneFilter(std::vector<std::array<uint16_t, 2>> new_map, const robot_nav_msgs::Path path)
{
boost::unique_lock<mutex_t> lock(*layered_costmap_->getCostmap()->getMutex());
if (new_map.empty())
@@ -159,7 +159,7 @@ namespace costmap_2d
if (!Yaw_list.empty())
{
laneFilter(X_List, Y_List, Yaw_list);
nav_msgs::OccupancyGrid lanes;
robot_nav_msgs::OccupancyGrid lanes;
convertToMap(costmap_, lanes, 0.65, 0.196);
//////////////////////////////////
@@ -177,7 +177,7 @@ namespace costmap_2d
}
void DirectionalLayer::convertToMap(unsigned char *costmap, nav_msgs::OccupancyGrid &dir_map, double occ_th, double free_th)
void DirectionalLayer::convertToMap(unsigned char *costmap, robot_nav_msgs::OccupancyGrid &dir_map, double occ_th, double free_th)
{
dir_map.header = new_map_.header;
dir_map.header.stamp = robot::Time::now();