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Hiep update

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HiepLM
2025-12-30 10:24:18 +07:00
parent 4246453ae6
commit 72b2f3c639
49 changed files with 476 additions and 476 deletions
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20
plugins/static_layer.cpp
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@@ -36,20 +36,20 @@
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#include <costmap_2d/static_layer.h>
#include <costmap_2d/costmap_math.h>
#include <robot_costmap_2d/static_layer.h>
#include <robot_costmap_2d/costmap_math.h>
#include <tf3/convert.h>
#include <tf3_geometry_msgs/tf3_geometry_msgs.h>
#include <robot_tf3_geometry_msgs/tf3_geometry_msgs.h>
#include <boost/dll/alias.hpp>
using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
using costmap_2d::FREE_SPACE;
using robot_costmap_2d::NO_INFORMATION;
using robot_costmap_2d::LETHAL_OBSTACLE;
using robot_costmap_2d::FREE_SPACE;
namespace costmap_2d
namespace robot_costmap_2d
{
StaticLayer::StaticLayer()
@@ -75,7 +75,7 @@ void StaticLayer::onInitialize()
bool StaticLayer::getParams(const std::string& config_file_name, robot::NodeHandle &nh)
{
try {
std::string folder = COSTMAP_2D_DIR;
std::string folder = ROBOT_COSTMAP_2D_DIR;
std::string path_source = getSourceFile(folder,config_file_name);
YAML::Node config = YAML::LoadFile(path_source);
@@ -324,7 +324,7 @@ void StaticLayer::updateBounds(double robot_x, double robot_y, double robot_yaw,
has_updated_data_ = false;
}
void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
void StaticLayer::updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
if (!map_received_)
return;
@@ -389,4 +389,4 @@ static boost::shared_ptr<Layer> create_static_plugin() {
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_static_plugin, StaticLayer)
} // namespace costmap_2d
} // namespace robot_costmap_2d