Duong update

plugins/obstacle_layer.cpp

@@ -39,7 +39,6 @@
 #include <robot_costmap_2d/costmap_math.h>
 
 #include <robot_sensor_msgs/point_cloud2_iterator.h>
-#include <robot/console.h>
 
 #include <tf3/exceptions.h>
 #include <boost/dll/alias.hpp>
@@ -76,7 +75,14 @@ ObstacleLayer::~ObstacleLayer()
 bool ObstacleLayer::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());
+      }
+      // robot::log_error("folder: %s", folder.c_str());
       std::string path_source = getSourceFile(folder,config_file_name);
       
       YAML::Node config = YAML::LoadFile(path_source);
@@ -112,7 +118,7 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
       std::string topics_string = loadParam(layer,"observation_sources", std::string(""));
       if (nh.hasParam("observation_sources"))
         nh.getParam("observation_sources", topics_string);
-      robot::log_error("Subscribed to Topics: %s\n", topics_string.c_str());
+      robot::log_info("Subscribed to Topics: %s\n", topics_string.c_str());
 
       // now we need to split the topics based on whitespace which we can use a stringstream for
       std::stringstream ss(topics_string);
@@ -189,7 +195,7 @@ bool ObstacleLayer::getParams(const std::string& config_file_name, robot::NodeHa
         // enabled_ = enabled;
 
         robot::log_info("Creating an observation buffer for topic %s, frame %s\n", topic.c_str(),
-                  sensor_frame.c_str());
+                  priv_nh.getNamespace().c_str());
 
         // create an observation buffer
         observation_buffers_.push_back(