update obstacle_layer

include/robot_costmap_2d/costmap_2d_robot.h

@@ -55,7 +55,9 @@
 
 #include <robot/node_handle.h>
 #include <robot/plugin_loader_helper.h>
-class SuperValue : public robot::XmlRpc::XmlRpcValue
+#include <csignal>
+
+class RobotSuperValue : public robot::XmlRpc::XmlRpcValue
 {
 public:
   void setStruct(robot::XmlRpc::XmlRpcValue::ValueStruct* a)
@@ -73,6 +75,12 @@ public:
 namespace robot_costmap_2d
 {
 
+  void signalHandler(int)
+  {
+    std::signal(SIGINT, SIG_DFL);
+    std::raise(SIGINT);
+  }
+
 /** @brief A ROS wrapper for a 2D Costmap. Handles subscribing to
  * topics that provide observations about obstacles in either the form
  * of PointCloud or LaserScan messages. */

include/robot_costmap_2d/obstacle_layer.h

@@ -51,8 +51,16 @@
 #include <robot_sensor_msgs/PointCloud2.h>
 #include <robot_sensor_msgs/point_cloud_conversion.h>
 
+#include <robot/console.h>
+
 namespace robot_costmap_2d
 {
+struct CallBackInfo
+{
+  std::string data_type;
+  std::string topic;
+  bool inf_is_valid;
+};
 
 class ObstacleLayer : public CostmapLayer
 {
@@ -167,6 +175,7 @@ protected:
   bool stop_receiving_data_ = false;
 
   int combination_method_;
+  std::vector<CallBackInfo> callback_infos_;
 
 private:
   bool getParams(const std::string& config_file_name, robot::NodeHandle &nh);