DuongTD/costmap_2d
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

DuongTD gui zalo

Browse Source
This commit is contained in:
HiepLM
2026-01-10 10:16:51 +07:00
parent 384897b750
commit b66bd7c751
4 changed files with 29 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files

3
src/layered_costmap.cpp
View File

@@ -111,7 +111,6 @@ namespace robot_costmap_2d
minx_ = miny_ = 1e30;
maxx_ = maxy_ = -1e30;
printf("START\n");
for (vector<boost::shared_ptr<Layer>>::iterator plugin = plugins_.begin(); plugin != plugins_.end();
++plugin)
{
@@ -121,7 +120,6 @@ namespace robot_costmap_2d
double prev_miny = miny_;
double prev_maxx = maxx_;
double prev_maxy = maxy_;
std::cout << "robot x: " << robot_x << "\nrobot y: " << robot_y << "\nrobot yaw: " << robot_yaw << std::endl;
(*plugin)->updateBounds(robot_x, robot_y, robot_yaw, &minx_, &miny_, &maxx_, &maxy_);
if (minx_ > prev_minx || miny_ > prev_miny || maxx_ < prev_maxx || maxy_ < prev_maxy)
{
@@ -132,7 +130,6 @@ namespace robot_costmap_2d
(*plugin)->getName().c_str());
}
}
printf("END\n");
int x0, xn, y0, yn;
costmap_.worldToMapEnforceBounds(minx_, miny_, x0, y0);