DuongTD/costmap_2d
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Duong update

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This commit is contained in:
HiepLM
2026-01-12 15:48:43 +07:00
parent 9d3d31a4f9
commit 81e7874274
14 changed files with 219 additions and 59 deletions
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11
plugins/voxel_layer.cpp
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@@ -37,7 +37,6 @@
*********************************************************************/
#include <robot_costmap_2d/voxel_layer.h>
#include <robot_sensor_msgs/point_cloud2_iterator.h>
#include <robot/console.h>
#include <boost/dll/alias.hpp>
#define VOXEL_BITS 16
@@ -69,7 +68,14 @@ bool VoxelLayer::getParams(const std::string& config_file_name, robot::NodeHandl
{
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);
@@ -112,7 +118,6 @@ bool VoxelLayer::getParams(const std::string& config_file_name, robot::NodeHandl
}
if (nh.hasParam("combination_method"))
nh.getParam("combination_method", combination_method_);
this->matchSize();
}