DuongTD/costmap_2d
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update folder plugins

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This commit is contained in:
duongtd
2025-11-13 17:39:09 +07:00
parent c94de60a7b
commit bd98bf4e08
18 changed files with 1008 additions and 610 deletions
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15
plugins/inflation_layer.cpp
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@@ -53,7 +53,7 @@ void InflationLayer::onInitialize()
bool InflationLayer::getParams()
{
try {
YAML::Node config = YAML::LoadFile("../cfg/config.yaml");
YAML::Node config = YAML::LoadFile("/home/duongtd/robotics_core/costmap_2d/config/config.yaml");
YAML::Node layer = config["inflation_layer"];
double cost_scaling_factor = loadParam(layer, "cost_scaling_factor", 15.0);
double inflation_radius = loadParam(layer, "inflation_radius", 0.55);
@@ -77,17 +77,6 @@ bool InflationLayer::getParams()
}
// void InflationLayer::reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level)
// {
// setInflationParameters(config.inflation_radius, config.cost_scaling_factor);
// if (enabled_ != config.enabled || inflate_unknown_ != config.inflate_unknown) {
// enabled_ = config.enabled;
// inflate_unknown_ = config.inflate_unknown;
// need_reinflation_ = true;
// }
// }
void InflationLayer::matchSize()
{
boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
@@ -146,7 +135,7 @@ void InflationLayer::onFootprintChanged()
need_reinflation_ = true;
printf("InflationLayer::onFootprintChanged(): num footprint points: %lu,"
" inscribed_radius_ = %.3f, inflation_radius_ = %.3f",
" inscribed_radius_ = %.3f, inflation_radius_ = %.3f\n",
layered_costmap_->getFootprint().size(), inscribed_radius_, inflation_radius_);
}