fix file cmake

CMakeLists.txt

@@ -23,11 +23,6 @@ find_package(GTest REQUIRED)           # Google Test cho unit test
 find_package(PCL REQUIRED COMPONENTS common io)   # Point Cloud Library
 find_package(xmlrpcpp REQUIRED)        # XML-RPC client/server library
 
-# --- Include other message packages nếu cần ---
-# Có thể add_subdirectory nếu các package ROS msgs không có target
-# ví dụ sensor_msgs, geometry_msgs, nav_msgs,... 
-# mục đích để build mà không cần cài ROS
-
 # --- Define macro để dùng trong code ---
 add_definitions(-DCOSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
 
@@ -86,15 +81,26 @@ target_include_directories(costmap_2d
             $<INSTALL_INTERFACE:include/${PROJECT_NAME}>             # Khi install
         )
 
-# --- Cài đặt thư viện ---
+# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
 install(TARGETS costmap_2d
-  EXPORT costmap_2dTargets
+  EXPORT 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 ---
+# --- 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
+)
+
 # --- Cài đặt headers ---
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION include/${PROJECT_NAME}
@@ -102,29 +108,23 @@ install(DIRECTORY include/${PROJECT_NAME}/
 
 # --- Plugin libraries ---
 # Tạo các plugin shared library
-add_library(static_layer SHARED plugins/static_layer.cpp)
+add_library(plugins 
-target_link_libraries(static_layer costmap_2d ${Boost_LIBRARIES} yaml-cpp)
+    SHARED 
+        plugins/static_layer.cpp
+        plugins/obstacle_layer.cpp
+        plugins/inflation_layer.cpp
+        plugins/voxel_layer.cpp
+        plugins/critical_layer.cpp
+        plugins/directional_layer.cpp
+        plugins/preferred_layer.cpp
+        plugins/unpreferred_layer.cpp
+        )
 
-add_library(obstacle_layer SHARED plugins/obstacle_layer.cpp)
+target_link_libraries(plugins 
-target_link_libraries(obstacle_layer costmap_2d ${Boost_LIBRARIES} yaml-cpp)
+        costmap_2d 
-
+        ${Boost_LIBRARIES} 
-add_library(inflation_layer SHARED plugins/inflation_layer.cpp)
+        yaml-cpp
-target_link_libraries(inflation_layer costmap_2d ${Boost_LIBRARIES} yaml-cpp)
+        )
-
-add_library(voxel_layer SHARED plugins/voxel_layer.cpp)
-target_link_libraries(voxel_layer costmap_2d ${Boost_LIBRARIES} yaml-cpp)
-
-add_library(critical_layer SHARED plugins/critical_layer.cpp)
-target_link_libraries(critical_layer costmap_2d static_layer ${Boost_LIBRARIES} yaml-cpp)
-
-add_library(directional_layer SHARED plugins/directional_layer.cpp)
-target_link_libraries(directional_layer costmap_2d static_layer ${Boost_LIBRARIES} yaml-cpp)
-
-add_library(preferred_layer SHARED plugins/preferred_layer.cpp)
-target_link_libraries(preferred_layer costmap_2d static_layer ${Boost_LIBRARIES} yaml-cpp)
-
-add_library(unpreferred_layer SHARED plugins/unpreferred_layer.cpp)
-target_link_libraries(unpreferred_layer costmap_2d static_layer ${Boost_LIBRARIES} yaml-cpp)
 
 
 # --- Option để bật/tắt test ---

src/costmap_2d_robot.cpp

@@ -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"},
+        {"./src/costmap_2d/libplugins.so", "create_static_layer"},
-        {"./costmap_2d/libinflation_layer.so", "create_inflation_layer"},
+        {"./src/costmap_2d/libplugins.so", "create_inflation_layer"},
-        {"./costmap_2d/libobstacle_layer.so", "create_obstacle_layer"},
+        {"./src/costmap_2d/libplugins.so", "create_obstacle_layer"},
-        {"./costmap_2d/libpreferred_layer.so", "create_preferred_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)
     {