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add file costmap_2d_robot

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duongtd
2025-11-18 11:44:01 +07:00
parent 0c61984d3e
commit 59ec58a018
18 changed files with 203 additions and 101 deletions
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10
plugins/directional_layer.cpp
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@@ -412,12 +412,12 @@ namespace costmap_2d
return false;
}
// Copy map data given proper transformations
tf3::Transform tf2_transform;
tf2_transform = convertToTf2Transform(transformMsg.transform);
x = tf2_transform.getOrigin().x();
y = tf2_transform.getOrigin().y();
tf3::Transform tf3_transform;
tf3_transform = convertTotf3Transform(transformMsg.transform);
x = tf3_transform.getOrigin().x();
y = tf3_transform.getOrigin().y();
// Extract the rotation as a quaternion from the transform
tf3::Quaternion rotation = tf2_transform.getRotation();
tf3::Quaternion rotation = tf3_transform.getRotation();
// Convert the quaternion to a yaw angle (in radians)
yaw = tf3::getYaw(rotation);
return true;