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update file costmap_2d_robot and file config params

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duongtd
2025-12-03 11:36:06 +07:00
parent 64db092d46
commit 4fb2554291
16 changed files with 169 additions and 130 deletions
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15
plugins/inflation_layer.cpp
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@@ -79,26 +79,19 @@ void InflationLayer::onInitialize()
seen_ = NULL;
seen_size_ = 0;
need_reinflation_ = false;
std::string config_file_name = name_ + ".yaml";
std::cout << "InflationLayer: " << config_file_name << std::endl;
getParams(config_file_name);
}
matchSize();
}
bool InflationLayer::getParams()
bool InflationLayer::getParams(const std::string& config_file_name)
{
try {
std::string config_file_name = "config.yaml";
std::string folder = COSTMAP_2D_DIR;
std::string path_source = getSourceFile(folder,config_file_name);
if(path_source != " ")
{
std::cout << "Path source: " << path_source << std::endl;
}
else
{
std::cout << "/cfg folder not found!" << std::endl;
}
YAML::Node config = YAML::LoadFile(path_source);
YAML::Node layer = config["inflation_layer"];