update file obstacle_layer and file test plugin

CMakeLists.txt

@@ -147,6 +147,9 @@ endif()
 if (NOT TARGET map_msgs)
     add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../map_msgs ${CMAKE_BINARY_DIR}/map_msgs_build)
 endif()
+if (NOT TARGET laser_geometry)
+    add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../laser_geometry ${CMAKE_BINARY_DIR}/laser_geometry_build)
+endif()
 
 include_directories(
     include  
@@ -179,20 +182,40 @@ target_link_libraries(costmap_2d_new
     geometry_msgs
     nav_msgs
     map_msgs
+    laser_geometry
     ${TF2_LIBRARY}
 )
 target_include_directories(costmap_2d_new PRIVATE ${Boost_INCLUDE_DIRS})
 
 # --- Plugin libraries ---
-add_library(layers SHARED
+add_library(static_layer SHARED
     plugins/static_layer.cpp
 )
-target_link_libraries(layers
+target_link_libraries(static_layer
     costmap_2d_new
     ${Boost_LIBRARIES}
     yaml-cpp
 )
 
+add_library(obstacle_layer SHARED
+    plugins/obstacle_layer.cpp
+)
+target_link_libraries(obstacle_layer
+    costmap_2d_new
+    ${Boost_LIBRARIES}
+    yaml-cpp
+)
+
+add_library(inflation_layer SHARED
+    plugins/inflation_layer.cpp
+)
+target_link_libraries(inflation_layer
+    costmap_2d_new
+    ${Boost_LIBRARIES}
+    yaml-cpp
+)
+
+
 # --- Test executables ---
 add_executable(test_array_parser test/array_parser_test.cpp)
 add_executable(test_costmap test/coordinates_test.cpp)
@@ -215,7 +238,8 @@ target_link_libraries(test_costmap PRIVATE
 target_link_libraries(test_plugin PRIVATE
     ${TF2_LIBRARY}
     costmap_2d_new
-    layers
+    static_layer
+    obstacle_layer
     ${Boost_LIBRARIES}
     Boost::filesystem
     Boost::system