add function computeCost file layer.h

2026-07-10 11:27:20 +07:00
parent 2fcd211ccf
commit a2a021c114
10 changed files with 1355 additions and 26 deletions
--- a/plugins/directional_layer.cpp
+++ b/plugins/directional_layer.cpp
@@ -162,14 +162,6 @@ namespace robot_costmap_2d
      robot_nav_msgs::OccupancyGrid lanes;
      convertToMap(costmap_, lanes, 0.65, 0.196);

-      //////////////////////////////////
-      //////////////////////////////////
-      /////////THAY THẾ PUBLISH////////
-      // lane_mask_pub_.publish(lanes);
-      //////////////////////////////////
-      //////////////////////////////////
-      //////////////////////////////////
-
      
      return false;
    }