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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12
plugins/static_layer.cpp
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@@ -170,16 +170,16 @@ void StaticLayer::handleImpl(const void* data,
const std::type_info& type,
const std::string& topic)
{
if (type == typeid(nav_msgs::OccupancyGrid) && topic == "map") {
incomingMap(*static_cast<const nav_msgs::OccupancyGrid*>(data));
} else if (type == typeid(map_msgs::OccupancyGridUpdate) && topic == "map_update") {
incomingUpdate(*static_cast<const map_msgs::OccupancyGridUpdate*>(data));
if (type == typeid(robot_nav_msgs::OccupancyGrid) && topic == "map") {
incomingMap(*static_cast<const robot_nav_msgs::OccupancyGrid*>(data));
} else if (type == typeid(robot_map_msgs::OccupancyGridUpdate) && topic == "map_update") {
incomingUpdate(*static_cast<const robot_map_msgs::OccupancyGridUpdate*>(data));
} else {
std::cout << "[Plugin] Unknown type: " << type.name() << std::endl;
}
}
void StaticLayer::incomingMap(const nav_msgs::OccupancyGrid& new_map)
void StaticLayer::incomingMap(const robot_nav_msgs::OccupancyGrid& new_map)
{
if(!map_shutdown_)
{
@@ -248,7 +248,7 @@ void StaticLayer::incomingMap(const nav_msgs::OccupancyGrid& new_map)
}
}
void StaticLayer::incomingUpdate(const map_msgs::OccupancyGridUpdate& update)
void StaticLayer::incomingUpdate(const robot_map_msgs::OccupancyGridUpdate& update)
{
if(!map_update_shutdown_)
{