Duong update

include/robot_costmap_2d/costmap_2d_robot.h

@@ -53,8 +53,7 @@
 
 #include <robot_xmlrpcpp/XmlRpcValue.h>
 
-#include <robot/node_handle.h>
-#include <robot/plugin_loader_helper.h>
+
 
 class RobotSuperValue : public robot_xmlrpcpp::XmlRpcValue
 {
@@ -199,13 +198,19 @@ public:
     return padded_footprint_;
   }
 
+  inline const robot_geometry_msgs::PolygonStamped& getRobotFootprintPolygonStamped() const noexcept
+  {
+    return footprint_;
+  }
+
   /** @brief Return the current unpadded footprint of the robot as a vector of points.
    *
    * This is the raw version of the footprint without padding.
    *
    * The footprint initially comes from the rosparam "footprint" but
    * can be overwritten by dynamic reconfigure or by messages received
-   * on the "footprint" topic. */
+   * on the "footprint" topic. 
+   */
   inline const std::vector<robot_geometry_msgs::Point>& getUnpaddedRobotFootprint() const noexcept
   {
     return unpadded_footprint_;
@@ -250,6 +255,7 @@ protected:
   double transform_tolerance_;  ///< timeout before transform errors
 
 private:
+  void copyParentParameters(const std::string& costmap_name, const std::string& plugin_name, const std::string& plugin_type, robot::NodeHandle& nh);
   /** @brief Set the footprint from the new_config object.
    *
    * If the values of footprint and robot_radius are the same in
@@ -270,10 +276,11 @@ private:
 
   std::vector<robot_geometry_msgs::Point> unpadded_footprint_;
   std::vector<robot_geometry_msgs::Point> padded_footprint_;
+  robot_geometry_msgs::PolygonStamped footprint_;
   float footprint_padding_;
 
 private:
-  void getParams(const std::string& config_file_name, robot::NodeHandle& nh);
+  void getParams(const std::string& config_file_name,const std::string& name, robot::NodeHandle& nh);
 };
 // class Costmap2DROBOT
 }  // namespace robot_costmap_2d

include/robot_costmap_2d/footprint.h

@@ -44,6 +44,7 @@
 #include <robot_geometry_msgs/Point32.h>
 
 #include <robot/node_handle.h>
+#include <robot/console.h>
 #include <robot_xmlrpcpp/XmlRpcValue.h> 
 
 namespace robot_costmap_2d

include/robot_costmap_2d/layer.h

@@ -42,7 +42,8 @@
 #include <robot_costmap_2d/utils.h>
 #include <string>
 #include <tf3/buffer_core.h>
-#include <robot/node_handle.h>
+#include <robot/console.h>
+#include <robot/plugin_loader_helper.h>
 namespace robot_costmap_2d
 {
 

include/robot_costmap_2d/observation_buffer.h

@@ -48,6 +48,8 @@
 
 // Thread support
 #include <boost/thread.hpp>
+#include <robot/console.h>
+#include <robot/plugin_loader_helper.h>
 
 namespace robot_costmap_2d
 {