DuongTD/costmap_2d
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fix file cmake

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duongtd
2025-12-02 10:39:03 +07:00
parent 11ff1baa79
commit 747c9697a2
2 changed files with 35 additions and 35 deletions
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12
src/costmap_2d_robot.cpp
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@@ -91,7 +91,7 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
YAML::Node config = YAML::LoadFile(path_source);
YAML::Node layer = config["static_layer"];
YAML::Node layer = config["costmap_2d"];
global_frame_ = loadParam(layer, "global_frame", std::string("map"));
robot_base_frame_ = loadParam(layer, "robot_base_frame", std::string("base_link"));
@@ -123,10 +123,10 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
struct PluginInfo { std::string path; std::string name; };
std::vector<PluginInfo> plugins_to_load = {
{"./costmap_2d/libstatic_layer.so", "create_static_layer"},
{"./costmap_2d/libinflation_layer.so", "create_inflation_layer"},
{"./costmap_2d/libobstacle_layer.so", "create_obstacle_layer"},
{"./costmap_2d/libpreferred_layer.so", "create_preferred_layer"}
{"./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"}
};
// if (private_nh.hasParam("plugins"))
@@ -158,7 +158,7 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
}
// setUnpaddedRobotFootprint(makeFootprintFromParams(private_nh));
transform_tolerance_ = loadParam(layer, "transform_tolerance", false);
if (map_update_thread_ != NULL)
{