DuongTD/costmap_2d
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update file config and loadParam

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This commit is contained in:
duongtd 2025-12-02 15:02:39 +07:00
parent 65fb73cf9f
commit 64db092d46
2 changed files with 41 additions and 18 deletions
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23
config/config.yaml
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@ -2,4 +2,25 @@ inflation_layer:
enabled: true
inflate_unknown: false
cost_scaling_factor: 15.0
inflation_radius: 0.55
inflation_radius: 0.55
costmap_2d:
plugins:
- name: static_layer
type: create_static_layer
- name: inflation_layer
type: create_inflation_layer
- name: obstacle_layer
type: create_obstacle_layer
- name: preferred_layer
type: create_preferred_layer
path: ./src/costmap_2d/libplugins.so
# robot_time_source: true
# update_frequency: 5.0
# publish_frequency: 2.0
# transform_tolerance: 0.5

36
src/costmap_2d_robot.cpp
View File

@ -120,31 +120,33 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
always_send_full_costmap = loadParam(layer, "always_send_full_costmap", false);
layered_costmap_ = new LayeredCostmap(global_frame_, rolling_window, track_unknown_space);
struct PluginInfo { std::string path; std::string name; };
std::vector<PluginInfo> plugins_to_load = {
{"./src/costmap_2d/libplugins.so", "create_static_layer"},
{"./src/costmap_2d/libplugins.so", "create_inflation_layer"},
{"./src/costmap_2d/libplugins.so", "create_obstacle_layer"},
{"./src/costmap_2d/libplugins.so", "create_preferred_layer"}
struct PluginConfig {
std::string name;
std::string type;
};
std::vector<PluginConfig> my_list;
if (layer["plugins"] && layer["plugins"].IsSequence())
{
for (const auto& plugin_node : layer["plugins"]) {
PluginConfig p;
p.name = loadParam(plugin_node, "name", std::string(" "));
p.type = loadParam(plugin_node, "type", std::string(" "));
my_list.push_back(p);
std::cout << "Plugin to load: " << p.name << ", Type: " << p.type << std::endl;
}
}
// if (private_nh.hasParam("plugins"))
// {
// my_list = loadParam(layer, "plugins", my_list);
// for (int32_t i = 0; i < my_list.size(); ++i)
// {
// std::string pname = static_cast<std::string>(my_list[i]["name"]);
// std::string type = static_cast<std::string>(my_list[i]["type"]);
// printf("%s: Using plugin \"%s\" with type %s\n", name_.c_str(), pname.c_str(), type.c_str());
for (auto& info : plugins_to_load)
std::string path = loadParam(layer, "path", std::string(" "));
std::cout << "Plugin to load: " << path << std::endl;
for (auto& info : my_list)
{
try
{
// copyParentParameters(pname, type, private_nh);
creators_.push_back(
boost::dll::import_alias<PluginLayerPtr()>(
info.path, info.name, boost::dll::load_mode::append_decorations)
path, info.type, boost::dll::load_mode::append_decorations)
);
PluginLayerPtr plugin = creators_.back()();
std::cout << "Plugin created: " << info.name << std::endl;