them file test static_layer

plugins/unpreferred_layer.cpp

@@ -1,7 +1,5 @@
 #include <costmap_2d/unpreferred_layer.h>
-#include <pluginlib/class_list_macros.hpp>
-
-PLUGINLIB_EXPORT_CLASS(costmap_2d::UnPreferredLayer, costmap_2d::Layer)
+#include <boost/dll/alias.hpp>
 
 using costmap_2d::NO_INFORMATION;
 using costmap_2d::LETHAL_OBSTACLE;
@@ -24,4 +22,12 @@ unsigned char UnPreferredLayer::interpretValue(unsigned char value)
   return scale * LETHAL_OBSTACLE;
 }
 
+// Export factory function
+static PluginPtr create_unpreferred_plugin() {
+    return std::make_shared<UnPreferredLayer>();
+}
+
+// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
+BOOST_DLL_ALIAS(create_unpreferred_plugin, create_plugin)
+
 }