Merge branch 'main' of https://git.pnkr.asia/DuongTD/costmap_2d into main

include/robot_costmap_2d/costmap_2d_robot.h

@@ -55,20 +55,19 @@
 
 #include <robot/node_handle.h>
 #include <robot/plugin_loader_helper.h>
-#include <csignal>
 
-class RobotSuperValue : public robot::XmlRpc::XmlRpcValue
+class RobotSuperValue : public robot_xmlrpcpp::XmlRpcValue
 {
 public:
-  void setStruct(robot::XmlRpc::XmlRpcValue::ValueStruct* a)
+  void setStruct(robot_xmlrpcpp::XmlRpcValue::ValueStruct* a)
   {
     _type = TypeStruct;
-    _value.asStruct = new robot::XmlRpc::XmlRpcValue::ValueStruct(*a);
+    _value.asStruct = new robot_xmlrpcpp::XmlRpcValue::ValueStruct(*a);
   }
-  void setArray(robot::XmlRpc::XmlRpcValue::ValueArray* a)
+  void setArray(robot_xmlrpcpp::XmlRpcValue::ValueArray* a)
   {
     _type = TypeArray;
-    _value.asArray = new std::vector<robot::XmlRpc::XmlRpcValue>(*a);
+    _value.asArray = new std::vector<robot_xmlrpcpp::XmlRpcValue>(*a);
   }
 };
 

include/robot_costmap_2d/critical_layer.h

@@ -10,10 +10,6 @@ class CriticalLayer : public StaticLayer
 public:
   CriticalLayer();
   virtual ~CriticalLayer();
-  LayerType getType() const override
-  {
-      return LayerType::CRITICAL_LAYER;
-  }
 private:
   unsigned char interpretValue(unsigned char value) override;
   void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j) override;

include/robot_costmap_2d/directional_layer.h

@@ -13,10 +13,7 @@ namespace robot_costmap_2d
     virtual ~DirectionalLayer();
     bool laneFilter(const std::vector<robot_geometry_msgs::PoseStamped> plan);
     void resetMap();
-    LayerType getType() const override
-    {
-        return LayerType::DIRECTIONAL_LAYER;
-    }
+
 	private:
     void incomingMap(const robot_nav_msgs::OccupancyGrid &new_map);
 		bool laneFilter(std::vector<std::array<uint16_t, 2>> new_map, const robot_nav_msgs::Path path);

include/robot_costmap_2d/footprint.h

@@ -136,7 +136,7 @@ std::vector<robot_geometry_msgs::Point> makeFootprintFromParams(robot::NodeHandl
  * @param full_param_name this is the full name of the rosparam from
  * which the footprint_xmlrpc value came.  It is used only for
  * reporting errors. */
-std::vector<robot_geometry_msgs::Point> makeFootprintFromXMLRPC(robot::XmlRpc::XmlRpcValue& footprint_xmlrpc,
+std::vector<robot_geometry_msgs::Point> makeFootprintFromXMLRPC(robot_xmlrpcpp::XmlRpcValue& footprint_xmlrpc,
                                 const std::string& full_param_name);
 
 // /** @brief Write the current unpadded_footprint_ to the "footprint"

include/robot_costmap_2d/inflation_layer.h

@@ -67,7 +67,6 @@ public:
   unsigned int index_;
   unsigned int x_, y_;
   unsigned int src_x_, src_y_;
-  
 };
 
 class InflationLayer : public Layer
@@ -121,10 +120,6 @@ public:
    */
   void setInflationParameters(double inflation_radius, double cost_scaling_factor);
 
-  LayerType getType() const override
-  {
-      return LayerType::INFLATION_LAYER;
-  }
 protected:
   virtual void onFootprintChanged();
   boost::recursive_mutex* inflation_access_;

include/robot_costmap_2d/layer.h

@@ -45,21 +45,6 @@
 #include <robot/node_handle.h>
 namespace robot_costmap_2d
 {
-enum class LayerType
-{
-    UNKNOWN,
-    STATIC_LAYER,
-    OBSTACLE_LAYER,
-    INFLATION_LAYER,
-    CRITICAL_LAYER,
-    DIRECTIONAL_LAYER,
-    PREFERRED_LAYER,
-    UNPREFERRED_LAYER,
-    VOXEL_LAYER
-};
-
-
-
 class LayeredCostmap;
 
 class Layer
@@ -94,7 +79,7 @@ public:
 
   virtual void reset() {}
 
-  virtual ~Layer() = default;
+  virtual ~Layer() {}
 
   /**
    * @brief Check to make sure all the data in the layer is up to date.
@@ -145,8 +130,6 @@ public:
    * notified of changes to the robot's footprint. */
   virtual void onFootprintChanged() {}
 
-  virtual LayerType getType() const { return LayerType::UNKNOWN; }
-
   template<typename T>
   void dataCallBack(const T& value, const std::string& topic) {
       handle(value, topic);

include/robot_costmap_2d/obstacle_layer.h

@@ -84,11 +84,6 @@ public:
   void addStaticObservation(robot_costmap_2d::Observation& obs, bool marking, bool clearing);
   void clearStaticObservations(bool marking, bool clearing);
 
-  LayerType getType() const override
-  {
-      return LayerType::OBSTACLE_LAYER;
-  }
-
 protected:
   void handleImpl(const void* data, 
                   const std::type_info&, 

include/robot_costmap_2d/preferred_layer.h

@@ -10,10 +10,6 @@ class PreferredLayer : public StaticLayer
 public:
   PreferredLayer();
   virtual ~PreferredLayer();
-  LayerType getType() const override
-  {
-      return LayerType::PREFERRED_LAYER;
-  }
 private:
   unsigned char interpretValue(unsigned char value);
 };

include/robot_costmap_2d/static_layer.h

@@ -63,12 +63,6 @@ public:
   virtual void updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
 
   virtual void matchSize();
-  
-  LayerType getType() const override
-  {
-      return LayerType::STATIC_LAYER;
-  }
-
 protected:
   void handleImpl(const void* data,
                   const std::type_info& type,

include/robot_costmap_2d/unpreferred_layer.h

@@ -10,10 +10,7 @@ class UnPreferredLayer : public StaticLayer
 public:
   UnPreferredLayer();
   virtual ~UnPreferredLayer();
-  LayerType getType() const override
-  {
-      return LayerType::UNPREFERRED_LAYER;
-  }
+
 private:
   unsigned char interpretValue(unsigned char value);
 

include/robot_costmap_2d/voxel_layer.h

@@ -76,10 +76,7 @@ public:
   }
   virtual void matchSize();
   virtual void reset();
-  LayerType getType() const override
-  {
-      return LayerType::VOXEL_LAYER;
-  }
+
 
 protected: