1738_29102025

2025-10-29 17:38:43 +07:00
parent 7c1dcfd352
commit cdb9ded893
51 changed files with 2055 additions and 1216 deletions
--- a/build/CMakeCache.txt
+++ b/build/CMakeCache.txt
@@ -238,7 +238,7 @@ boost_thread_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0
 costmap_2d_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build

 //Dependencies for the target
-costmap_2d_LIB_DEPENDS:STATIC=general;Boost::system;general;Boost::thread;
+costmap_2d_LIB_DEPENDS:STATIC=general;Boost::system;general;Boost::thread;general;tf2;

 //Value Computed by CMake
 costmap_2d_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d
@@ -252,6 +252,18 @@ geometry_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/geometry
 //Dependencies for the target
 layers_LIB_DEPENDS:STATIC=general;costmap_2d;general;Boost::system;general;Boost::thread;

+//Value Computed by CMake
+map_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/map_msgs_build
+
+//Value Computed by CMake
+map_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/map_msgs
+
+//Value Computed by CMake
+nav_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/nav_msgs_build
+
+//Value Computed by CMake
+nav_msgs_SOURCE_DIR:STATIC=/home/duongtd/robotics_core/common_msgs/nav_msgs
+
 //Value Computed by CMake
 sensor_msgs_BINARY_DIR:STATIC=/home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build

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@@ -34,28 +36,96 @@ set(CMAKE_MAKEFILE_DEPENDS
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  "/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/libboost_thread-variant-static.cmake"
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  "/usr/share/cmake-3.16/Modules/CMakeCXXInformation.cmake"
  "/usr/share/cmake-3.16/Modules/CMakeCheckCompilerFlagCommonPatterns.cmake"
  "/usr/share/cmake-3.16/Modules/CMakeCommonLanguageInclude.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeCompilerIdDetection.cmake"
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+  "/usr/share/cmake-3.16/Modules/CMakeDetermineCXXCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeDetermineCompileFeatures.cmake"
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+  "/usr/share/cmake-3.16/Modules/CMakeDetermineCompilerABI.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeDetermineCompilerId.cmake"
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+  "/usr/share/cmake-3.16/Modules/CMakeSystem.cmake.in"
  "/usr/share/cmake-3.16/Modules/CMakeSystemSpecificInformation.cmake"
  "/usr/share/cmake-3.16/Modules/CMakeSystemSpecificInitialize.cmake"
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+  "/usr/share/cmake-3.16/Modules/Compiler/Intel-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/MSVC-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/NVIDIA-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/OpenWatcom-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/PGI-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/PathScale-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/SCO-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/SDCC-C-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/SunPro-C-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/SunPro-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/TI-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/TinyCC-C-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/VisualAge-C-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/VisualAge-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Watcom-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/XL-C-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/XL-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/XLClang-C-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/XLClang-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/zOS-C-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/zOS-CXX-DetermineCompiler.cmake"
  "/usr/share/cmake-3.16/Modules/FindBoost.cmake"
  "/usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake"
  "/usr/share/cmake-3.16/Modules/FindPackageMessage.cmake"
  "/usr/share/cmake-3.16/Modules/FindThreads.cmake"
  "/usr/share/cmake-3.16/Modules/Internal/CMakeCheckCompilerFlag.cmake"
+  "/usr/share/cmake-3.16/Modules/Internal/FeatureTesting.cmake"
+  "/usr/share/cmake-3.16/Modules/Platform/Linux-Determine-CXX.cmake"
  "/usr/share/cmake-3.16/Modules/Platform/Linux-GNU-C.cmake"
  "/usr/share/cmake-3.16/Modules/Platform/Linux-GNU-CXX.cmake"
  "/usr/share/cmake-3.16/Modules/Platform/Linux-GNU.cmake"
@@ -71,10 +141,17 @@ set(CMAKE_MAKEFILE_OUTPUTS

 # Byproducts of CMake generate step:
 set(CMAKE_MAKEFILE_PRODUCTS
+  "CMakeFiles/3.16.3/CMakeSystem.cmake"
+  "CMakeFiles/3.16.3/CMakeCCompiler.cmake"
+  "CMakeFiles/3.16.3/CMakeCXXCompiler.cmake"
+  "CMakeFiles/3.16.3/CMakeCCompiler.cmake"
+  "CMakeFiles/3.16.3/CMakeCXXCompiler.cmake"
  "CMakeFiles/CMakeDirectoryInformation.cmake"
  "sensor_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake"
  "std_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake"
  "geometry_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake"
+  "nav_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake"
+  "map_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake"
  )

 # Dependency information for all targets:
--- a/build/CMakeFiles/Makefile2
+++ b/build/CMakeFiles/Makefile2
@@ -57,12 +57,16 @@ all: CMakeFiles/layers.dir/all
 all: CMakeFiles/costmap_2d.dir/all
 all: sensor_msgs_build/all
 all: geometry_msgs_build/all
+all: nav_msgs_build/all
+all: map_msgs_build/all

 .PHONY : all

 # The main recursive "preinstall" target.
 preinstall: sensor_msgs_build/preinstall
 preinstall: geometry_msgs_build/preinstall
+preinstall: nav_msgs_build/preinstall
+preinstall: map_msgs_build/preinstall

 .PHONY : preinstall

@@ -71,6 +75,8 @@ clean: CMakeFiles/layers.dir/clean
 clean: CMakeFiles/costmap_2d.dir/clean
 clean: sensor_msgs_build/clean
 clean: geometry_msgs_build/clean
+clean: nav_msgs_build/clean
+clean: map_msgs_build/clean

 .PHONY : clean

@@ -92,6 +98,42 @@ geometry_msgs_build/clean:

 .PHONY : geometry_msgs_build/clean

+#=============================================================================
+# Directory level rules for directory map_msgs_build
+
+# Recursive "all" directory target.
+map_msgs_build/all:
+
+.PHONY : map_msgs_build/all
+
+# Recursive "preinstall" directory target.
+map_msgs_build/preinstall:
+
+.PHONY : map_msgs_build/preinstall
+
+# Recursive "clean" directory target.
+map_msgs_build/clean:
+
+.PHONY : map_msgs_build/clean
+
+#=============================================================================
+# Directory level rules for directory nav_msgs_build
+
+# Recursive "all" directory target.
+nav_msgs_build/all:
+
+.PHONY : nav_msgs_build/all
+
+# Recursive "preinstall" directory target.
+nav_msgs_build/preinstall:
+
+.PHONY : nav_msgs_build/preinstall
+
+# Recursive "clean" directory target.
+nav_msgs_build/clean:
+
+.PHONY : nav_msgs_build/clean
+
 #=============================================================================
 # Directory level rules for directory sensor_msgs_build

@@ -137,12 +179,12 @@ std_msgs_build/clean:
 CMakeFiles/layers.dir/all: CMakeFiles/costmap_2d.dir/all
 	$(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/depend
 	$(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/build
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=10,11 "Built target layers"
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=10,11,12,13 "Built target layers"
 .PHONY : CMakeFiles/layers.dir/all

 # Build rule for subdir invocation for target.
 CMakeFiles/layers.dir/rule: cmake_check_build_system
-	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 11
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 13
 	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/layers.dir/all
 	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 0
 .PHONY : CMakeFiles/layers.dir/rule
@@ -191,7 +233,7 @@ CMakeFiles/costmap_2d.dir/clean:
 sensor_msgs_build/CMakeFiles/test_battery_state.dir/all:
 	$(MAKE) -f sensor_msgs_build/CMakeFiles/test_battery_state.dir/build.make sensor_msgs_build/CMakeFiles/test_battery_state.dir/depend
 	$(MAKE) -f sensor_msgs_build/CMakeFiles/test_battery_state.dir/build.make sensor_msgs_build/CMakeFiles/test_battery_state.dir/build
-	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=12,13 "Built target test_battery_state"
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=14,15 "Built target test_battery_state"
 .PHONY : sensor_msgs_build/CMakeFiles/test_battery_state.dir/all

 # Build rule for subdir invocation for target.
--- a/build/CMakeFiles/TargetDirectories.txt
+++ b/build/CMakeFiles/TargetDirectories.txt
@@ -9,3 +9,7 @@
 /home/duongtd/robotics_core/costmap_2d/build/std_msgs_build/CMakeFiles/edit_cache.dir
 /home/duongtd/robotics_core/costmap_2d/build/geometry_msgs_build/CMakeFiles/rebuild_cache.dir
 /home/duongtd/robotics_core/costmap_2d/build/geometry_msgs_build/CMakeFiles/edit_cache.dir
+/home/duongtd/robotics_core/costmap_2d/build/nav_msgs_build/CMakeFiles/rebuild_cache.dir
+/home/duongtd/robotics_core/costmap_2d/build/nav_msgs_build/CMakeFiles/edit_cache.dir
+/home/duongtd/robotics_core/costmap_2d/build/map_msgs_build/CMakeFiles/rebuild_cache.dir
+/home/duongtd/robotics_core/costmap_2d/build/map_msgs_build/CMakeFiles/edit_cache.dir
--- a/build/CMakeFiles/costmap_2d.dir/CXX.includecache
+++ b/build/CMakeFiles/costmap_2d.dir/CXX.includecache
@@ -6,6 +6,12 @@

 #IncludeRegexTransform: 

+../include/costmap_2d/array_parser.h
+vector
+-
+string
+-
+
 ../include/costmap_2d/cost_values.h

 ../include/costmap_2d/costmap_2d.h
@@ -24,6 +30,16 @@ costmap_2d/layer.h
 costmap_2d/layered_costmap.h
 -

+../include/costmap_2d/costmap_math.h
+math.h
+-
+algorithm
+-
+vector
+-
+geometry_msgs/Point.h
+-
+
 ../include/costmap_2d/footprint.h
 geometry_msgs/Point32.h
 -
@@ -58,6 +74,34 @@ vector
 string
 -

+../include/costmap_2d/observation.h
+sensor_msgs/PointCloud2.h
+-
+geometry_msgs/Point.h
+-
+
+../include/costmap_2d/observation_buffer.h
+vector
+-
+list
+-
+string
+-
+chrono
+-
+costmap_2d/observation.h
+-
+tf2/buffer_core.h
+-
+sensor_msgs/PointCloud2.h
+-
+geometry_msgs/PointStamped.h
+-
+geometry_msgs/Point.h
+-
+boost/thread.hpp
+-
+
 /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
 cmath
 -
@@ -66,6 +110,12 @@ iostream

 /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point32.h

+/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PointStamped.h
+std_msgs/Header.h
+/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/std_msgs/Header.h
+geometry_msgs/Point.h
+/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/geometry_msgs/Point.h
+
 /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Polygon.h
 vector
 -
@@ -78,6 +128,48 @@ std_msgs/Header.h
 geometry_msgs/Polygon.h
 -

+/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud2.h
+cstdint
+-
+string
+-
+vector
+-
+std_msgs/Header.h
+/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/std_msgs/Header.h
+sensor_msgs/PointField.h
+/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/sensor_msgs/PointField.h
+
+/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointField.h
+cstdint
+-
+string
+-
+
+/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.h
+sensor_msgs/PointCloud2.h
+-
+cstdarg
+-
+sstream
+-
+string
+-
+vector
+-
+
+/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h
+sensor_msgs/PointCloud2.h
+-
+cstdarg
+-
+string
+-
+vector
+-
+sensor_msgs/impl/point_cloud2_iterator.h
+-
+
 /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
 string
 -
@@ -86,10 +178,44 @@ chrono
 cstdint
 -

+/home/duongtd/robotics_core/costmap_2d/src/array_parser.cpp
+cstdio
+-
+string
+-
+sstream
+-
+vector
+-
+
+/home/duongtd/robotics_core/costmap_2d/src/costmap_2d.cpp
+costmap_2d/costmap_2d.h
+-
+cstdio
+-
+
 /home/duongtd/robotics_core/costmap_2d/src/costmap_layer.cpp
 costmap_2d/costmap_layer.h
 -

+/home/duongtd/robotics_core/costmap_2d/src/costmap_math.cpp
+costmap_2d/costmap_math.h
+-
+
+/home/duongtd/robotics_core/costmap_2d/src/footprint.cpp
+costmap_2d/costmap_math.h
+-
+boost/tokenizer.hpp
+-
+boost/foreach.hpp
+-
+boost/algorithm/string.hpp
+-
+costmap_2d/footprint.h
+-
+costmap_2d/array_parser.h
+-
+
 /home/duongtd/robotics_core/costmap_2d/src/layer.cpp
 costmap_2d/layer.h
 /home/duongtd/robotics_core/costmap_2d/src/costmap_2d/layer.h
@@ -108,3 +234,13 @@ algorithm
 vector
 -

+/home/duongtd/robotics_core/costmap_2d/src/observation_buffer.cpp
+costmap_2d/observation_buffer.h
+-
+tf2/convert.h
+-
+sensor_msgs/point_cloud2_iterator.h
+-
+cstdint
+-
+
--- a/build/CMakeFiles/costmap_2d.dir/DependInfo.cmake
+++ b/build/CMakeFiles/costmap_2d.dir/DependInfo.cmake
@@ -30,6 +30,8 @@ set(CMAKE_CXX_TARGET_INCLUDE_PATH
  "/home/duongtd/robotics_core/common_msgs/sensor_msgs/include"
  "/home/duongtd/robotics_core/common_msgs/std_msgs/include"
  "/home/duongtd/robotics_core/common_msgs/geometry_msgs/include"
+  "/home/duongtd/robotics_core/common_msgs/nav_msgs/include"
+  "/home/duongtd/robotics_core/map_msgs/include"
  )

 # Targets to which this target links.
--- a/build/CMakeFiles/costmap_2d.dir/flags.make
+++ b/build/CMakeFiles/costmap_2d.dir/flags.make
@@ -6,5 +6,5 @@ CXX_FLAGS = -fPIC   -std=gnu++17

 CXX_DEFINES = -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK

-CXX_INCLUDES = -I/home/duongtd/robotics_core/costmap_2d/include -I/usr/include/eigen3 -I/home/duongtd/robotics_core/common_msgs/sensor_msgs/include -I/home/duongtd/robotics_core/common_msgs/std_msgs/include -I/home/duongtd/robotics_core/common_msgs/geometry_msgs/include 
+CXX_INCLUDES = -I/home/duongtd/robotics_core/costmap_2d/include -I/usr/include/eigen3 -I/home/duongtd/robotics_core/common_msgs/sensor_msgs/include -I/home/duongtd/robotics_core/common_msgs/std_msgs/include -I/home/duongtd/robotics_core/common_msgs/geometry_msgs/include -I/home/duongtd/robotics_core/common_msgs/nav_msgs/include -I/home/duongtd/robotics_core/map_msgs/include 

--- a/build/CMakeFiles/costmap_2d.dir/src/layer.cpp.o
+++ b/build/CMakeFiles/costmap_2d.dir/src/layer.cpp.o
--- a/build/CMakeFiles/layers.dir/CXX.includecache
+++ b/build/CMakeFiles/layers.dir/CXX.includecache
@@ -18,6 +18,12 @@ boost/thread.hpp
 geometry_msgs/Point.h
 -

+../include/costmap_2d/costmap_layer.h
+costmap_2d/layer.h
+-
+costmap_2d/layered_costmap.h
+-
+
 ../include/costmap_2d/costmap_math.h
 math.h
 -
@@ -28,28 +34,6 @@ vector
 geometry_msgs/Point.h
 -

-../include/costmap_2d/footprint.h
-geometry_msgs/Point32.h
-
-geometry_msgs/Polygon.h
-
-geometry_msgs/PolygonStamped.h
-
-string.h
-
-vector
-
-
-../include/costmap_2d/inflation_layer.h
-costmap_2d/layer.h
-
-costmap_2d/layered_costmap.h
-
-boost/thread.hpp
-
-boost/dll/alias.hpp
-
-
 ../include/costmap_2d/layer.h
 costmap_2d/costmap_2d.h
 -
@@ -72,24 +56,74 @@ vector
 string
 -

+../include/costmap_2d/static_layer.h
+costmap_2d/costmap_layer.h
+-
+costmap_2d/layered_costmap.h
+-
+nav_msgs/OccupancyGrid.h
+-
+map_msgs/OccupancyGridUpdate.h
+-
+string
+-
+geometry_msgs/TransformStamped.h
+-
+
 /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
 cmath
 -
 iostream
 -

-/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point32.h
+/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Pose.h
+cmath
+-
+iostream
+-
+geometry_msgs/Point.h
+-
+geometry_msgs/Quaternion.h
+-

-/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Polygon.h
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+
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 vector
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+  "/home/duongtd/robotics_core/common_msgs/nav_msgs/include"
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