add function getTypeLayer

include/robot_costmap_2d/critical_layer.h

@@ -10,6 +10,10 @@ 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

@@ -13,7 +13,10 @@ 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/inflation_layer.h

@@ -67,6 +67,7 @@ public:
   unsigned int index_;
   unsigned int x_, y_;
   unsigned int src_x_, src_y_;
+  
 };
 
 class InflationLayer : public Layer
@@ -120,6 +121,10 @@ 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

@@ -45,6 +45,21 @@
 #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
@@ -79,7 +94,7 @@ public:
 
   virtual void reset() {}
 
-  virtual ~Layer() {}
+  virtual ~Layer() = default;
 
   /**
    * @brief Check to make sure all the data in the layer is up to date.
@@ -130,6 +145,8 @@ 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

@@ -76,6 +76,11 @@ 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

@@ -10,6 +10,10 @@ 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

@@ -63,6 +63,12 @@ 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

@@ -10,7 +10,10 @@ 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

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

plugins/static_layer.cpp

@@ -347,7 +347,7 @@ void StaticLayer::updateCosts(robot_costmap_2d::Costmap2D& master_grid, int min_
     tf3::TransformStampedMsg transformMsg;
     try
     {
-      transformMsg = tf_->lookupTransform(map_frame_, global_frame_, tf3::Time::now());
+      transformMsg = tf_->lookupTransform(map_frame_, global_frame_, tf3::Time());
     }
     catch (tf3::TransformException ex)
     {

src/observation_buffer.cpp

@@ -66,7 +66,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
   std::string tf_error;
 
   robot_geometry_msgs::TransformStamped transformStamped;
-  if (!tf3_buffer_.canTransform(new_global_frame, global_frame_, transform_time, &tf_error))
+  if (!tf3_buffer_.canTransform(new_global_frame, global_frame_, tf3::Time(), &tf_error))
   {
     printf("Transform between %s and %s with tolerance %.2f failed: %s.\n", new_global_frame.c_str(),
               global_frame_.c_str(), tf_tolerance_, tf_error.c_str());
@@ -90,7 +90,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
       tf3::TransformStampedMsg tfm_1 = tf3_buffer_.lookupTransform(
                         new_global_frame,                      // frame đích
                         origin.header.frame_id,                      // frame nguồn
-                        transform_time
+                        tf3::Time()
                         );
       tf3::doTransform(origin, origin, tfm_1);
       obs.origin_ = origin.point;
@@ -100,7 +100,7 @@ bool ObservationBuffer::setGlobalFrame(const std::string new_global_frame)
       tf3::TransformStampedMsg tfm_2 = tf3_buffer_.lookupTransform(
                         new_global_frame,                      // frame đích
                         obs.cloud_->header.frame_id,                      // frame nguồn
-                        transform_time
+                        tf3::Time()
                         );
       tf3::doTransform(*(obs.cloud_), *(obs.cloud_), tfm_2);
     }
@@ -140,7 +140,7 @@ void ObservationBuffer::bufferCloud(const robot_sensor_msgs::PointCloud2& cloud)
     tf3::TransformStampedMsg tfm_1 = tf3_buffer_.lookupTransform(
                         global_frame_,                      // frame đích
                         local_origin.header.frame_id,                      // frame nguồn
-                        data_convert::convertTime(local_origin.header.stamp)
+                        tf3::Time()
                         );
     tf3::doTransform(local_origin, global_origin, tfm_1);
 
@@ -161,7 +161,7 @@ void ObservationBuffer::bufferCloud(const robot_sensor_msgs::PointCloud2& cloud)
     tf3::TransformStampedMsg tfm_2 = tf3_buffer_.lookupTransform(
                         global_frame_,                      // frame đích
                         cloud.header.frame_id,                      // frame nguồn
-                        data_convert::convertTime(cloud.header.stamp)
+                        tf3::Time()
                         );
     tf3::doTransform(cloud, global_frame_cloud, tfm_2);
     global_frame_cloud.header.stamp = cloud.header.stamp;