first commit

2025-10-28 14:44:05 +07:00
parent 5d4d1943fe
commit 5d8981eab6
30 changed files with 792 additions and 218 deletions
--- a/src/layered_costmap.cpp
+++ b/src/layered_costmap.cpp
@@ -138,7 +138,7 @@ namespace costmap_2d
    return current_;
  }

-  void LayeredCostmap::setFootprint(const std::vector<Point> &footprint_spec)
+  void LayeredCostmap::setFootprint(const std::vector<geometry_msgs::Point> &footprint_spec)
  {
    footprint_ = footprint_spec;
    costmap_2d::calculateMinAndMaxDistances(footprint_spec, inscribed_radius_, circumscribed_radius_);