DuongTD/costmap_2d
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update copyParentParameters

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duongtd
2026-02-26 14:43:17 +07:00
parent eb52edc6e8
commit 6c6e5b44f8
1 changed files with 18 additions and 18 deletions
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36
src/costmap_2d_robot.cpp
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@@ -82,6 +82,7 @@ Costmap2DROBOT::Costmap2DROBOT(const std::string& name, tf3::BufferCore& tf) :
name_ = name; name_ = name;
std::string config_file_name = "costmap_params.yaml"; std::string config_file_name = "costmap_params.yaml";
getParams(config_file_name, name_, nh); getParams(config_file_name, name_, nh);
nh.printParams();
// create a thread to handle updating the map // create a thread to handle updating the map
stop_updates_ = false; stop_updates_ = false;
@@ -366,14 +367,14 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
{ {
std::string topics_string; std::string topics_string;
move_parameter(priv_nh_2, target_layer, "observation_sources", topics_string); move_parameter(priv_nh_2, target_layer, "observation_sources", topics_string);
robot::log_error("topics_string: %s", topics_string.c_str()); // robot::log_error("topics_string: %s", topics_string.c_str());
std::stringstream ss(topics_string); std::stringstream ss(topics_string);
std::string source; std::string source;
while (ss >> source) while (ss >> source)
{ {
robot::NodeHandle priv_nh_3(priv_nh_2, source); robot::NodeHandle priv_nh_3(priv_nh_2, source);
robot::NodeHandle target_layer_2(target_layer, source); robot::NodeHandle target_layer_2(target_layer, source);
robot::log_warning("priv_nh_3: %s",priv_nh_3.getNamespace().c_str()); // robot::log_warning("priv_nh_3: %s",priv_nh_3.getNamespace().c_str());
std::string topic; std::string topic;
std::string data_type; std::string data_type;
bool clearing; bool clearing;
@@ -381,15 +382,14 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
bool inf_is_valid; bool inf_is_valid;
double min_obstacle_height; double min_obstacle_height;
double max_obstacle_height; double max_obstacle_height;
move_parameter(priv_nh_2, target_layer_2, "topic", topic); move_parameter(priv_nh_3, target_layer_2, "topic", topic);
robot::log_error("topic: %s", topic.c_str()); robot::log_error("topic: %s", topic.c_str());
move_parameter(priv_nh_2, target_layer_2, "data_type", data_type); move_parameter(priv_nh_3, target_layer_2, "data_type", data_type);
move_parameter(priv_nh_2, target_layer_2, "clearing", clearing); move_parameter(priv_nh_3, target_layer_2, "clearing", clearing);
move_parameter(priv_nh_2, target_layer_2, "marking", marking); move_parameter(priv_nh_3, target_layer_2, "marking", marking);
move_parameter(priv_nh_2, target_layer_2, "inf_is_valid", inf_is_valid); move_parameter(priv_nh_3, target_layer_2, "inf_is_valid", inf_is_valid);
move_parameter(priv_nh_2, target_layer_2, "min_obstacle_height", min_obstacle_height); move_parameter(priv_nh_3, target_layer_2, "min_obstacle_height", min_obstacle_height);
move_parameter(priv_nh_2, target_layer_2, "max_obstacle_height", max_obstacle_height); move_parameter(priv_nh_3, target_layer_2, "max_obstacle_height", max_obstacle_height);
target_layer_2.printParams();
} }
} }
} }
@@ -421,16 +421,16 @@ void Costmap2DROBOT::copyParentParameters(const std::string& costmap_name,
bool inf_is_valid; bool inf_is_valid;
double min_obstacle_height; double min_obstacle_height;
double max_obstacle_height; double max_obstacle_height;
move_parameter(priv_nh_2, target_layer_2, "topic", topic); move_parameter(priv_nh_3, target_layer_2, "topic", topic);
move_parameter(priv_nh_2, target_layer_2, "data_type", data_type); // robot::log_error("topic: %s", topic.c_str());
move_parameter(priv_nh_2, target_layer_2, "clearing", clearing); move_parameter(priv_nh_3, target_layer_2, "data_type", data_type);
move_parameter(priv_nh_2, target_layer_2, "marking", marking); move_parameter(priv_nh_3, target_layer_2, "clearing", clearing);
move_parameter(priv_nh_2, target_layer_2, "inf_is_valid", inf_is_valid); move_parameter(priv_nh_3, target_layer_2, "marking", marking);
move_parameter(priv_nh_2, target_layer_2, "min_obstacle_height", min_obstacle_height); move_parameter(priv_nh_3, target_layer_2, "inf_is_valid", inf_is_valid);
move_parameter(priv_nh_2, target_layer_2, "max_obstacle_height", max_obstacle_height); move_parameter(priv_nh_3, target_layer_2, "min_obstacle_height", min_obstacle_height);
move_parameter(priv_nh_3, target_layer_2, "max_obstacle_height", max_obstacle_height);
} }
} }
} }
else if(plugin_type == "InflationLayer") else if(plugin_type == "InflationLayer")
{ {