DuongTD/costmap_2d
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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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14
src/costmap_2d_robot.cpp
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@@ -41,9 +41,9 @@
#include <algorithm>
#include <vector>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/costmap_2d_robot.h>
#include <costmap_2d/utils.h>
#include <robot_costmap_2d/layered_costmap.h>
#include <robot_costmap_2d/costmap_2d_robot.h>
#include <robot_costmap_2d/utils.h>
#include <tf3/convert.h>
#include <tf3/utils.h>
@@ -53,7 +53,7 @@
using namespace std;
namespace costmap_2d
namespace robot_costmap_2d
{
Costmap2DROBOT::Costmap2DROBOT(const std::string& name, tf3::BufferCore& tf) :
layered_costmap_(NULL),
@@ -83,11 +83,11 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name, robot::NodeH
{
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);
YAML::Node layer = config["costmap_2d"];
YAML::Node layer = config["robot_costmap_2d"];
std::string global_frame =
loadParam(layer, "global_frame", std::string("map"));
@@ -567,4 +567,4 @@ void Costmap2DROBOT::getOrientedFootprint(std::vector<robot_geometry_msgs::Point
padded_footprint_, oriented_footprint);
}
} // namespace costmap_2d
} // namespace robot_costmap_2d