Duong update

plugins/inflation_layer.cpp

@@ -39,7 +39,6 @@
 #include <robot_costmap_2d/inflation_layer.h>
 #include <robot_costmap_2d/costmap_math.h>
 #include <robot_costmap_2d/footprint.h>
-#include <robot/console.h>
 #include <boost/thread.hpp>
 #include <boost/dll/alias.hpp>
 
@@ -92,7 +91,13 @@ void InflationLayer::onInitialize()
 bool InflationLayer::getParams(const std::string& config_file_name, robot::NodeHandle &nh)
 {
     try {
-        std::string folder = ROBOT_COSTMAP_2D_DIR;
+        const char *env_config = std::getenv("PNKX_NAV_CORE_CONFIG_DIR");
+        std::string folder;
+        if (env_config && std::filesystem::exists(env_config))
+        {
+          folder = std::string(env_config);
+          // robot::log_error("config_directory: %s", folder.c_str());
+        }
         std::string path_source = getSourceFile(folder,config_file_name);
 
         YAML::Node config = YAML::LoadFile(path_source);