update file voxel_layer

src/costmap_2d.cpp

@@ -46,7 +46,9 @@ void Costmap2D::deleteMaps()
 void Costmap2D::initMaps(unsigned int size_x, unsigned int size_y)
 {
   boost::unique_lock<mutex_t> lock(*access_);
-  delete[] costmap_;                      // Xóa vùng nhớ cũ nếu có
+  if (costmap_ != nullptr) {
+    delete[] costmap_;
+  }
   costmap_ = new unsigned char[size_x * size_y];  // Mỗi ô lưu 1 byte (0–255)
 }
 

src/layer.cpp

@@ -3,6 +3,8 @@
 namespace costmap_2d
 {
 
+  
+
 Layer::Layer()
   : layered_costmap_(NULL)
   , current_(false)

src/layered_costmap.cpp

@@ -4,6 +4,7 @@
 #include <string>
 #include <algorithm>
 #include <vector>
+#include <memory>
 
 using std::vector;
 
@@ -48,7 +49,7 @@ namespace costmap_2d
     boost::unique_lock<Costmap2D::mutex_t> lock(*(costmap_.getMutex()));
     size_locked_ = size_locked;
     costmap_.resizeMap(size_x, size_y, resolution, origin_x, origin_y);
-    for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
+    for (vector<costmap_2d::PluginLayerPtr>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
          ++plugin)
     {
       (*plugin)->matchSize();
@@ -75,7 +76,7 @@ namespace costmap_2d
     minx_ = miny_ = 1e30;
     maxx_ = maxy_ = -1e30;
 
-    for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
+    for (vector<costmap_2d::PluginLayerPtr>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
          ++plugin)
     {
       if (!(*plugin)->isEnabled())
@@ -111,7 +112,7 @@ namespace costmap_2d
 
     costmap_.resetMap(x0, y0, xn, yn);
     
-    for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
+    for (vector<costmap_2d::PluginLayerPtr>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
          ++plugin)
     {
       if ((*plugin)->isEnabled())
@@ -129,7 +130,7 @@ namespace costmap_2d
   bool LayeredCostmap::isCurrent()
   {
     current_ = true;
-    for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
+    for (vector<costmap_2d::PluginLayerPtr>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
          ++plugin)
     {
       if ((*plugin)->isEnabled())
@@ -143,7 +144,7 @@ namespace costmap_2d
     footprint_ = footprint_spec;
     costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius_, circumscribed_radius_);
 
-    for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
+    for (vector<costmap_2d::PluginLayerPtr>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
          ++plugin)
     {
       (*plugin)->onFootprintChanged();

src/observation_buffer.cpp

@@ -224,7 +224,6 @@ bool ObservationBuffer::isCurrent() const
         expected_update_rate_.toSec());
   }
   return current;
-  return true;
 }
 
 void ObservationBuffer::resetLastUpdated()