them file test static_layer

plugins/critical_layer.cpp

@@ -1,8 +1,5 @@
 #include <costmap_2d/critical_layer.h>
 #include <boost/dll/alias.hpp>
-#include "shared.h"
-
-PLUGINLIB_EXPORT_CLASS(costmap_2d::CriticalLayer, costmap_2d::Layer)
 
 using costmap_2d::NO_INFORMATION;
 using costmap_2d::LETHAL_OBSTACLE;
@@ -35,4 +32,12 @@ void CriticalLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, i
       updateWithMax(master_grid, min_i, min_j, max_i, max_j);
     
 }
+
+// Export factory function
+static PluginPtr create_critical_plugin() {
+    return std::make_shared<CriticalLayer>();
+}
+
+// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
+BOOST_DLL_ALIAS(create_critical_plugin, create_plugin)
 }