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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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32
plugins/voxel_layer.cpp
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@@ -53,17 +53,17 @@ using costmap_2d::Observation;
namespace costmap_2d
{
// void VoxelLayer::onInitialize()
// {
// ObstacleLayer::onInitialize();
// ros::NodeHandle private_nh("~/" + name_);
void VoxelLayer::onInitialize()
{
ObstacleLayer::onInitialize();
// ros::NodeHandle private_nh("~/" + name_);
// private_nh.param("publish_voxel_map", publish_voxel_, false);
// if (publish_voxel_)
// voxel_pub_ = private_nh.advertise < costmap_2d::VoxelGrid > ("voxel_grid", 1);
// if (publish_voxel_)
// voxel_pub_ = private_nh.advertise < costmap_2d::VoxelGrid > ("voxel_grid", 1);
// clearing_endpoints_pub_ = private_nh.advertise<sensor_msgs::PointCloud>("clearing_endpoints", 1);
// }
// clearing_endpoints_pub_ = private_nh.advertise<sensor_msgs::PointCloud>("clearing_endpoints", 1);
}
// void VoxelLayer::setupDynamicReconfigure(ros::NodeHandle& nh)
// {
@@ -90,12 +90,12 @@ VoxelLayer::~VoxelLayer()
// matchSize();
// }
// void VoxelLayer::matchSize()
// {
// ObstacleLayer::matchSize();
// voxel_grid_.resize(size_x_, size_y_, size_z_);
// ROS_ASSERT(voxel_grid_.sizeX() == size_x_ && voxel_grid_.sizeY() == size_y_);
// }
void VoxelLayer::matchSize()
{
ObstacleLayer::matchSize();
// voxel_grid_.resize(size_x_, size_y_, size_z_);
// ROS_ASSERT(voxel_grid_.sizeX() == size_x_ && voxel_grid_.sizeY() == size_y_);
}
// void VoxelLayer::reset()
// {
@@ -445,11 +445,11 @@ VoxelLayer::~VoxelLayer()
// }
// Export factory function
static PluginPtr create_voxel_plugin() {
static PluginObstacleLayerPtr create_voxel_plugin() {
return std::make_shared<VoxelLayer>();
}
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_voxel_plugin, create_plugin)
BOOST_DLL_ALIAS(create_voxel_plugin, create_obstacle_plugin)
} // namespace costmap_2d