Hiep update

2025-12-30 10:24:18 +07:00
parent 4246453ae6
commit 72b2f3c639
49 changed files with 476 additions and 476 deletions
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,6 @@
 # --- CMake version và project name ---
 cmake_minimum_required(VERSION 3.10)
-project(costmap_2d)
+project(robot_costmap_2d)

 # --- C++ standard và position independent code ---
 set(CMAKE_CXX_STANDARD 17)            # Sử dụng C++17
@@ -10,8 +10,8 @@ set(CMAKE_POSITION_INDEPENDENT_CODE ON)  # Thư viện có thể build thành sh
 # Dùng để runtime linker tìm thư viện đã build trước khi install
 set(CMAKE_SKIP_BUILD_RPATH FALSE)
 set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
-set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/costmap_2d")
-set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/costmap_2d")
+set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/robot_costmap_2d")
+set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/robot_costmap_2d")
 set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)

 # --- Dependencies ---
@@ -23,7 +23,7 @@ find_package(GTest REQUIRED)           # Google Test cho unit test
 find_package(PCL REQUIRED COMPONENTS common io)   # Point Cloud Library

 # --- Define macro để dùng trong code ---
-add_definitions(-DCOSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
+add_definitions(-DROBOT_COSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")

 # --- Include directories ---
 # Thêm các folder chứa header files
@@ -39,9 +39,9 @@ link_directories(${PCL_LIBRARY_DIRS})  # Thêm thư viện PCL vào linker path
 # --- Eigen và PCL definitions ---
 add_definitions(${EIGEN3_DEFINITIONS} ${PCL_DEFINITIONS})

-# --- Core library: costmap_2d ---
+# --- Core library: robot_costmap_2d ---
 # Tạo thư viện chính
-add_library(costmap_2d
+add_library(robot_costmap_2d
    src/costmap_2d_robot.cpp
    src/array_parser.cpp
    src/costmap_2d.cpp
@@ -54,7 +54,7 @@ add_library(costmap_2d
 )

 # --- Link các thư viện phụ thuộc ---
-target_link_libraries(costmap_2d
+target_link_libraries(robot_costmap_2d
    ${Boost_LIBRARIES}        # Boost
    robot_std_msgs                   
    robot_sensor_msgs
@@ -65,8 +65,8 @@ target_link_libraries(costmap_2d
    robot_visualization_msgs
    voxel_grid
    tf3
-    tf3_geometry_msgs
-    tf3_sensor_msgs
+    robot_tf3_geometry_msgs
+    robot_tf3_sensor_msgs
    data_convert
    robot_xmlrpcpp                  # XMLRPC
    yaml-cpp
@@ -75,7 +75,7 @@ target_link_libraries(costmap_2d
 )

 # --- Include directories cho target ---
-target_include_directories(costmap_2d 
+target_include_directories(robot_costmap_2d 
        PUBLIC 
            ${Boost_INCLUDE_DIRS}  # Boost headers
            $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>   # Khi build từ source
@@ -83,23 +83,23 @@ target_include_directories(costmap_2d
        )

 # --- Cài đặt thư viện vào hệ thống khi chạy make install ---
-install(TARGETS costmap_2d
-  EXPORT costmap_2d-targets
+install(TARGETS robot_costmap_2d
+  EXPORT robot_costmap_2d-targets
  ARCHIVE DESTINATION lib      # Thư viện tĩnh .a
  LIBRARY DESTINATION lib      # Thư viện động .so
  RUNTIME DESTINATION bin      # File thực thi (nếu có)
  INCLUDES DESTINATION include # Cài đặt include
 )

-# --- Xuất export set costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/costmap_2d/costmap_2dTargets.cmake ---
+# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_costmap_2d/robot_costmap_2dTargets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
-# --- Find_package(costmap_2d REQUIRED) ---
-# --- Target_link_libraries(my_app PRIVATE costmap_2d::costmap_2d) ---
-install(EXPORT costmap_2d-targets 
-  FILE costmap_2d-targets.cmake
-  NAMESPACE costmap_2d::
-  DESTINATION lib/cmake/costmap_2d
+# --- Find_package(robot_costmap_2d REQUIRED) ---
+# --- Target_link_libraries(my_app PRIVATE robot_costmap_2d::robot_costmap_2d) ---
+install(EXPORT robot_costmap_2d-targets 
+  FILE robot_costmap_2d-targets.cmake
+  NAMESPACE robot_costmap_2d::
+  DESTINATION lib/cmake/robot_costmap_2d
 )

 # --- Cài đặt headers ---
@@ -123,7 +123,7 @@ add_library(plugins

 target_link_libraries(plugins 
    PRIVATE
-        costmap_2d 
+        robot_costmap_2d 
        ${Boost_LIBRARIES} 
        yaml-cpp
        robot_time
@@ -144,13 +144,13 @@ install(TARGETS plugins

 install(EXPORT plugins-targets 
  FILE plugins-targets.cmake
-  NAMESPACE costmap_2d::
+  NAMESPACE robot_costmap_2d::
  DESTINATION lib/cmake/plugins
 )


 # --- Option để bật/tắt test ---
-option(BUILD_COSTMAP_TESTS "Build costmap_2d test executables" ON)
+option(BUILD_COSTMAP_TESTS "Build robot_costmap_2d test executables" ON)

 if(BUILD_COSTMAP_TESTS)
    # --- Test executables ---
@@ -159,8 +159,8 @@ if(BUILD_COSTMAP_TESTS)
    add_executable(test_plugin test/static_layer_test.cpp)

    # --- Link thư viện cho test ---
-    target_link_libraries(test_array_parser PRIVATE costmap_2d GTest::GTest GTest::Main pthread)
-    target_link_libraries(test_costmap PRIVATE costmap_2d GTest::GTest GTest::Main pthread)
+    target_link_libraries(test_array_parser PRIVATE robot_costmap_2d GTest::GTest GTest::Main pthread)
+    target_link_libraries(test_costmap PRIVATE robot_costmap_2d GTest::GTest GTest::Main pthread)
    target_link_libraries(test_plugin PRIVATE 
    
        ${Boost_LIBRARIES}
@@ -171,24 +171,24 @@ if(BUILD_COSTMAP_TESTS)
        yaml-cpp
        tf3
        robot_time
-        costmap_2d
+        robot_costmap_2d
        GTest::GTest GTest::Main
    )
    
    # --- Set RPATH để tìm thư viện của project này thay vì system ROS libraries ---
    set_target_properties(test_array_parser PROPERTIES
-        BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
-        INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d"
+        BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
+        INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
        LINK_FLAGS "-Wl,--disable-new-dtags"
    )
    set_target_properties(test_costmap PROPERTIES
-        BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
-        INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d"
+        BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
+        INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
        LINK_FLAGS "-Wl,--disable-new-dtags"
    )
    set_target_properties(test_plugin PROPERTIES
-        BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
-        INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/costmap_2d"
+        BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
+        INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
        LINK_FLAGS "-Wl,--disable-new-dtags"
    )
 endif()