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

1738_29102025

Browse Source
This commit is contained in:
duongtd 2025-10-29 17:38:43 +07:00
parent 7c1dcfd352
commit cdb9ded893
51 changed files with 2055 additions and 1216 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

16
CMakeLists.txt
View File

@ -12,6 +12,15 @@ if (NOT TARGET geometry_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build)
endif()
if (NOT TARGET nav_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../common_msgs/nav_msgs ${CMAKE_BINARY_DIR}/nav_msgs_build)
endif()
if (NOT TARGET map_msgs)
add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../map_msgs ${CMAKE_BINARY_DIR}/map_msgs_build)
endif()
# ---- Dependencies ----
find_package(Eigen3 REQUIRED)
find_package(Boost REQUIRED COMPONENTS system thread)
@ -41,13 +50,16 @@ target_link_libraries(costmap_2d
${Boost_LIBRARIES}
sensor_msgs
geometry_msgs
nav_msgs
map_msgs
tf2
)
# # ---- Layer plugins ----
add_library(layers
plugins/inflation_layer.cpp
# plugins/obstacle_layer.cpp
# plugins/static_layer.cpp
plugins/obstacle_layer.cpp
plugins/static_layer.cpp
# plugins/voxel_layer.cpp
)

16
build/CMakeCache.txt
View File

@ -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
@ -379,7 +391,7 @@ CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
//ADVANCED property for variable: CMAKE_NM
CMAKE_NM-ADVANCED:INTERNAL=1
//number of local generators
CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=4
CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=6
//ADVANCED property for variable: CMAKE_OBJCOPY
CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
//ADVANCED property for variable: CMAKE_OBJDUMP

34
build/CMakeFiles/CMakeError.log
View File

@ -1,21 +1,21 @@
Performing C SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD failed with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_c018a/fast && /usr/bin/make -f CMakeFiles/cmTC_c018a.dir/build.make CMakeFiles/cmTC_c018a.dir/build
Run Build Command(s):/usr/bin/make cmTC_6fa4e/fast && /usr/bin/make -f CMakeFiles/cmTC_6fa4e.dir/build.make CMakeFiles/cmTC_6fa4e.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_c018a.dir/src.c.o
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -fPIE -o CMakeFiles/cmTC_c018a.dir/src.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/src.c
Linking C executable cmTC_c018a
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_c018a.dir/link.txt --verbose=1
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD CMakeFiles/cmTC_c018a.dir/src.c.o -o cmTC_c018a
/usr/bin/ld: CMakeFiles/cmTC_c018a.dir/src.c.o: in function `main':
Building C object CMakeFiles/cmTC_6fa4e.dir/src.c.o
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD -fPIE -o CMakeFiles/cmTC_6fa4e.dir/src.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/src.c
Linking C executable cmTC_6fa4e
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_6fa4e.dir/link.txt --verbose=1
/usr/bin/cc -DCMAKE_HAVE_LIBC_PTHREAD CMakeFiles/cmTC_6fa4e.dir/src.c.o -o cmTC_6fa4e
/usr/bin/ld: CMakeFiles/cmTC_6fa4e.dir/src.c.o: in function `main':
src.c:(.text+0x46): undefined reference to `pthread_create'
/usr/bin/ld: src.c:(.text+0x52): undefined reference to `pthread_detach'
/usr/bin/ld: src.c:(.text+0x63): undefined reference to `pthread_join'
collect2: error: ld returned 1 exit status
make[1]: *** [CMakeFiles/cmTC_c018a.dir/build.make:87: cmTC_c018a] Error 1
make[1]: *** [CMakeFiles/cmTC_6fa4e.dir/build.make:87: cmTC_6fa4e] Error 1
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
make: *** [Makefile:121: cmTC_c018a/fast] Error 2
make: *** [Makefile:121: cmTC_6fa4e/fast] Error 2
Source file was:
@ -41,18 +41,18 @@ int main(void)
Determining if the function pthread_create exists in the pthreads failed with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_08e7c/fast && /usr/bin/make -f CMakeFiles/cmTC_08e7c.dir/build.make CMakeFiles/cmTC_08e7c.dir/build
Run Build Command(s):/usr/bin/make cmTC_74663/fast && /usr/bin/make -f CMakeFiles/cmTC_74663.dir/build.make CMakeFiles/cmTC_74663.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_08e7c.dir/CheckFunctionExists.c.o
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -fPIE -o CMakeFiles/cmTC_08e7c.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c
Linking C executable cmTC_08e7c
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_08e7c.dir/link.txt --verbose=1
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create CMakeFiles/cmTC_08e7c.dir/CheckFunctionExists.c.o -o cmTC_08e7c -lpthreads
Building C object CMakeFiles/cmTC_74663.dir/CheckFunctionExists.c.o
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -fPIE -o CMakeFiles/cmTC_74663.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c
Linking C executable cmTC_74663
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_74663.dir/link.txt --verbose=1
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create CMakeFiles/cmTC_74663.dir/CheckFunctionExists.c.o -o cmTC_74663 -lpthreads
/usr/bin/ld: cannot find -lpthreads
collect2: error: ld returned 1 exit status
make[1]: *** [CMakeFiles/cmTC_08e7c.dir/build.make:87: cmTC_08e7c] Error 1
make[1]: *** [CMakeFiles/cmTC_74663.dir/build.make:87: cmTC_74663] Error 1
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
make: *** [Makefile:121: cmTC_08e7c/fast] Error 2
make: *** [Makefile:121: cmTC_74663/fast] Error 2

168
build/CMakeFiles/CMakeOutput.log
View File

@ -28,13 +28,13 @@ The CXX compiler identification is GNU, found in "/home/duongtd/robotics_core/co
Determining if the C compiler works passed with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_049bd/fast && /usr/bin/make -f CMakeFiles/cmTC_049bd.dir/build.make CMakeFiles/cmTC_049bd.dir/build
Run Build Command(s):/usr/bin/make cmTC_2edfc/fast && /usr/bin/make -f CMakeFiles/cmTC_2edfc.dir/build.make CMakeFiles/cmTC_2edfc.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_049bd.dir/testCCompiler.c.o
/usr/bin/cc -o CMakeFiles/cmTC_049bd.dir/testCCompiler.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/testCCompiler.c
Linking C executable cmTC_049bd
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_049bd.dir/link.txt --verbose=1
/usr/bin/cc CMakeFiles/cmTC_049bd.dir/testCCompiler.c.o -o cmTC_049bd
Building C object CMakeFiles/cmTC_2edfc.dir/testCCompiler.c.o
/usr/bin/cc -o CMakeFiles/cmTC_2edfc.dir/testCCompiler.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/testCCompiler.c
Linking C executable cmTC_2edfc
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_2edfc.dir/link.txt --verbose=1
/usr/bin/cc CMakeFiles/cmTC_2edfc.dir/testCCompiler.c.o -o cmTC_2edfc
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
@ -42,10 +42,10 @@ make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFi
Detecting C compiler ABI info compiled with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_6fd48/fast && /usr/bin/make -f CMakeFiles/cmTC_6fd48.dir/build.make CMakeFiles/cmTC_6fd48.dir/build
Run Build Command(s):/usr/bin/make cmTC_ae21c/fast && /usr/bin/make -f CMakeFiles/cmTC_ae21c.dir/build.make CMakeFiles/cmTC_ae21c.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o
/usr/bin/cc -v -o CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c
Building C object CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o
/usr/bin/cc -v -o CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c
Using built-in specs.
COLLECT_GCC=/usr/bin/cc
OFFLOAD_TARGET_NAMES=nvptx-none:hsa
@ -54,8 +54,8 @@ Target: x86_64-linux-gnu
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
Thread model: posix
gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2)
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'
/usr/lib/gcc/x86_64-linux-gnu/9/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/cc3c2RcL.s
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'
/usr/lib/gcc/x86_64-linux-gnu/9/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/cc8d1aOs.s
GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
compiled by GNU C version 9.4.0, GMP version 6.2.0, MPFR version 4.0.2, MPC version 1.1.0, isl version isl-0.22.1-GMP
@ -75,15 +75,15 @@ GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
Compiler executable checksum: 01da938ff5dc2163489aa33cb3b747a7
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'
as -v --64 -o CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o /tmp/cc3c2RcL.s
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'
as -v --64 -o CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o /tmp/cc8d1aOs.s
GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34
COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/
LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'
Linking C executable cmTC_6fd48
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_6fd48.dir/link.txt --verbose=1
/usr/bin/cc -v CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o -o cmTC_6fd48
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64'
Linking C executable cmTC_ae21c
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_ae21c.dir/link.txt --verbose=1
/usr/bin/cc -v CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -o cmTC_ae21c
Using built-in specs.
COLLECT_GCC=/usr/bin/cc
COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper
@ -95,9 +95,9 @@ Thread model: posix
gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2)
COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/
LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/
COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_6fd48' '-mtune=generic' '-march=x86-64'
/usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/cconKWCg.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_6fd48 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o
COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_6fd48' '-mtune=generic' '-march=x86-64'
COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_ae21c' '-mtune=generic' '-march=x86-64'
/usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccRAp0BV.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_ae21c /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o
COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_ae21c' '-mtune=generic' '-march=x86-64'
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
@ -121,10 +121,10 @@ Parsed C implicit link information from above output:
link line regex: [^( *|.*[/\])(ld|CMAKE_LINK_STARTFILE-NOTFOUND|([^/\]+-)?ld|collect2)[^/\]*( |$)]
ignore line: [Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp]
ignore line: []
ignore line: [Run Build Command(s):/usr/bin/make cmTC_6fd48/fast && /usr/bin/make -f CMakeFiles/cmTC_6fd48.dir/build.make CMakeFiles/cmTC_6fd48.dir/build]
ignore line: [Run Build Command(s):/usr/bin/make cmTC_ae21c/fast && /usr/bin/make -f CMakeFiles/cmTC_ae21c.dir/build.make CMakeFiles/cmTC_ae21c.dir/build]
ignore line: [make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp']
ignore line: [Building C object CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o]
ignore line: [/usr/bin/cc -v -o CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c]
ignore line: [Building C object CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o]
ignore line: [/usr/bin/cc -v -o CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -c /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c]
ignore line: [Using built-in specs.]
ignore line: [COLLECT_GCC=/usr/bin/cc]
ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:hsa]
@ -133,8 +133,8 @@ Parsed C implicit link information from above output:
ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go brig d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu]
ignore line: [Thread model: posix]
ignore line: [gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) ]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64']
ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/9/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/cc3c2RcL.s]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64']
ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/9/cc1 -quiet -v -imultiarch x86_64-linux-gnu /usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c -quiet -dumpbase CMakeCCompilerABI.c -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/cc8d1aOs.s]
ignore line: [GNU C17 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)]
ignore line: [ compiled by GNU C version 9.4.0 GMP version 6.2.0 MPFR version 4.0.2 MPC version 1.1.0 isl version isl-0.22.1-GMP]
ignore line: []
@ -154,15 +154,15 @@ Parsed C implicit link information from above output:
ignore line: []
ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072]
ignore line: [Compiler executable checksum: 01da938ff5dc2163489aa33cb3b747a7]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64']
ignore line: [ as -v --64 -o CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o /tmp/cc3c2RcL.s]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64']
ignore line: [ as -v --64 -o CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o /tmp/cc8d1aOs.s]
ignore line: [GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34]
ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/]
ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64']
ignore line: [Linking C executable cmTC_6fd48]
ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_6fd48.dir/link.txt --verbose=1]
ignore line: [/usr/bin/cc -v CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o -o cmTC_6fd48 ]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o' '-c' '-mtune=generic' '-march=x86-64']
ignore line: [Linking C executable cmTC_ae21c]
ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_ae21c.dir/link.txt --verbose=1]
ignore line: [/usr/bin/cc -v CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -o cmTC_ae21c ]
ignore line: [Using built-in specs.]
ignore line: [COLLECT_GCC=/usr/bin/cc]
ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper]
@ -174,13 +174,13 @@ Parsed C implicit link information from above output:
ignore line: [gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) ]
ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/]
ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_6fd48' '-mtune=generic' '-march=x86-64']
link line: [ /usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/cconKWCg.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_6fd48 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_ae21c' '-mtune=generic' '-march=x86-64']
link line: [ /usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccRAp0BV.res -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lgcc_s --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_ae21c /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o -lgcc --push-state --as-needed -lgcc_s --pop-state -lc -lgcc --push-state --as-needed -lgcc_s --pop-state /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o]
arg [/usr/lib/gcc/x86_64-linux-gnu/9/collect2] ==> ignore
arg [-plugin] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so] ==> ignore
arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper] ==> ignore
arg [-plugin-opt=-fresolution=/tmp/cconKWCg.res] ==> ignore
arg [-plugin-opt=-fresolution=/tmp/ccRAp0BV.res] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
arg [-plugin-opt=-pass-through=-lc] ==> ignore
@ -198,7 +198,7 @@ Parsed C implicit link information from above output:
arg [-znow] ==> ignore
arg [-zrelro] ==> ignore
arg [-o] ==> ignore
arg [cmTC_6fd48] ==> ignore
arg [cmTC_ae21c] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o] ==> ignore
@ -210,7 +210,7 @@ Parsed C implicit link information from above output:
arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..]
arg [CMakeFiles/cmTC_6fd48.dir/CMakeCCompilerABI.c.o] ==> ignore
arg [CMakeFiles/cmTC_ae21c.dir/CMakeCCompilerABI.c.o] ==> ignore
arg [-lgcc] ==> lib [gcc]
arg [--push-state] ==> ignore
arg [--as-needed] ==> ignore
@ -240,13 +240,13 @@ Parsed C implicit link information from above output:
Determining if the CXX compiler works passed with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_c9cbf/fast && /usr/bin/make -f CMakeFiles/cmTC_c9cbf.dir/build.make CMakeFiles/cmTC_c9cbf.dir/build
Run Build Command(s):/usr/bin/make cmTC_deb8a/fast && /usr/bin/make -f CMakeFiles/cmTC_deb8a.dir/build.make CMakeFiles/cmTC_deb8a.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_c9cbf.dir/testCXXCompiler.cxx.o
/usr/bin/c++ -o CMakeFiles/cmTC_c9cbf.dir/testCXXCompiler.cxx.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx
Linking CXX executable cmTC_c9cbf
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_c9cbf.dir/link.txt --verbose=1
/usr/bin/c++ CMakeFiles/cmTC_c9cbf.dir/testCXXCompiler.cxx.o -o cmTC_c9cbf
Building CXX object CMakeFiles/cmTC_deb8a.dir/testCXXCompiler.cxx.o
/usr/bin/c++ -o CMakeFiles/cmTC_deb8a.dir/testCXXCompiler.cxx.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/testCXXCompiler.cxx
Linking CXX executable cmTC_deb8a
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_deb8a.dir/link.txt --verbose=1
/usr/bin/c++ CMakeFiles/cmTC_deb8a.dir/testCXXCompiler.cxx.o -o cmTC_deb8a
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
@ -254,10 +254,10 @@ make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFi
Detecting CXX compiler ABI info compiled with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_4e5e7/fast && /usr/bin/make -f CMakeFiles/cmTC_4e5e7.dir/build.make CMakeFiles/cmTC_4e5e7.dir/build
Run Build Command(s):/usr/bin/make cmTC_68632/fast && /usr/bin/make -f CMakeFiles/cmTC_68632.dir/build.make CMakeFiles/cmTC_68632.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building CXX object CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o
/usr/bin/c++ -v -o CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp
Building CXX object CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o
/usr/bin/c++ -v -o CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp
Using built-in specs.
COLLECT_GCC=/usr/bin/c++
OFFLOAD_TARGET_NAMES=nvptx-none:hsa
@ -266,8 +266,8 @@ Target: x86_64-linux-gnu
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
Thread model: posix
gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2)
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
/usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/cc7HlAOK.s
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
/usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccLmzvLr.s
GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
compiled by GNU C version 9.4.0, GMP version 6.2.0, MPFR version 4.0.2, MPC version 1.1.0, isl version isl-0.22.1-GMP
@ -291,15 +291,15 @@ GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
Compiler executable checksum: 3d1eba838554fa2348dba760e4770469
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
as -v --64 -o CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o /tmp/cc7HlAOK.s
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
as -v --64 -o CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccLmzvLr.s
GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34
COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/
LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
Linking CXX executable cmTC_4e5e7
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_4e5e7.dir/link.txt --verbose=1
/usr/bin/c++ -v CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_4e5e7
COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
Linking CXX executable cmTC_68632
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_68632.dir/link.txt --verbose=1
/usr/bin/c++ -v CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_68632
Using built-in specs.
COLLECT_GCC=/usr/bin/c++
COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper
@ -311,9 +311,9 @@ Thread model: posix
gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2)
COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/
LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/
COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_4e5e7' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
/usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/cc83fSqd.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_4e5e7 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o
COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_4e5e7' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_68632' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
/usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/cc23gVST.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_68632 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o
COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_68632' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
@ -343,10 +343,10 @@ Parsed CXX implicit link information from above output:
link line regex: [^( *|.*[/\])(ld|CMAKE_LINK_STARTFILE-NOTFOUND|([^/\]+-)?ld|collect2)[^/\]*( |$)]
ignore line: [Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp]
ignore line: []
ignore line: [Run Build Command(s):/usr/bin/make cmTC_4e5e7/fast && /usr/bin/make -f CMakeFiles/cmTC_4e5e7.dir/build.make CMakeFiles/cmTC_4e5e7.dir/build]
ignore line: [Run Build Command(s):/usr/bin/make cmTC_68632/fast && /usr/bin/make -f CMakeFiles/cmTC_68632.dir/build.make CMakeFiles/cmTC_68632.dir/build]
ignore line: [make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp']
ignore line: [Building CXX object CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o]
ignore line: [/usr/bin/c++ -v -o CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp]
ignore line: [Building CXX object CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o]
ignore line: [/usr/bin/c++ -v -o CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp]
ignore line: [Using built-in specs.]
ignore line: [COLLECT_GCC=/usr/bin/c++]
ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:hsa]
@ -355,8 +355,8 @@ Parsed CXX implicit link information from above output:
ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go brig d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu]
ignore line: [Thread model: posix]
ignore line: [gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) ]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/cc7HlAOK.s]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccLmzvLr.s]
ignore line: [GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)]
ignore line: [ compiled by GNU C version 9.4.0 GMP version 6.2.0 MPFR version 4.0.2 MPC version 1.1.0 isl version isl-0.22.1-GMP]
ignore line: []
@ -380,15 +380,15 @@ Parsed CXX implicit link information from above output:
ignore line: []
ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072]
ignore line: [Compiler executable checksum: 3d1eba838554fa2348dba760e4770469]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
ignore line: [ as -v --64 -o CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o /tmp/cc7HlAOK.s]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
ignore line: [ as -v --64 -o CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccLmzvLr.s]
ignore line: [GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34]
ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/]
ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
ignore line: [Linking CXX executable cmTC_4e5e7]
ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_4e5e7.dir/link.txt --verbose=1]
ignore line: [/usr/bin/c++ -v CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_4e5e7 ]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
ignore line: [Linking CXX executable cmTC_68632]
ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_68632.dir/link.txt --verbose=1]
ignore line: [/usr/bin/c++ -v CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -o cmTC_68632 ]
ignore line: [Using built-in specs.]
ignore line: [COLLECT_GCC=/usr/bin/c++]
ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper]
@ -400,13 +400,13 @@ Parsed CXX implicit link information from above output:
ignore line: [gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) ]
ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/]
ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_4e5e7' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
link line: [ /usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/cc83fSqd.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_4e5e7 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o]
ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'cmTC_68632' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
link line: [ /usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/cc23gVST.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_68632 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o]
arg [/usr/lib/gcc/x86_64-linux-gnu/9/collect2] ==> ignore
arg [-plugin] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so] ==> ignore
arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper] ==> ignore
arg [-plugin-opt=-fresolution=/tmp/cc83fSqd.res] ==> ignore
arg [-plugin-opt=-fresolution=/tmp/cc23gVST.res] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
arg [-plugin-opt=-pass-through=-lc] ==> ignore
@ -424,7 +424,7 @@ Parsed CXX implicit link information from above output:
arg [-znow] ==> ignore
arg [-zrelro] ==> ignore
arg [-o] ==> ignore
arg [cmTC_4e5e7] ==> ignore
arg [cmTC_68632] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o] ==> ignore
arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o] ==> ignore
@ -436,7 +436,7 @@ Parsed CXX implicit link information from above output:
arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..]
arg [CMakeFiles/cmTC_4e5e7.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
arg [CMakeFiles/cmTC_68632.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
arg [-lstdc++] ==> lib [stdc++]
arg [-lm] ==> lib [m]
arg [-lgcc_s] ==> lib [gcc_s]
@ -462,13 +462,13 @@ Parsed CXX implicit link information from above output:
Determining if the include file pthread.h exists passed with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_4fb05/fast && /usr/bin/make -f CMakeFiles/cmTC_4fb05.dir/build.make CMakeFiles/cmTC_4fb05.dir/build
Run Build Command(s):/usr/bin/make cmTC_bb3bb/fast && /usr/bin/make -f CMakeFiles/cmTC_bb3bb.dir/build.make CMakeFiles/cmTC_bb3bb.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_4fb05.dir/CheckIncludeFile.c.o
/usr/bin/cc -fPIE -o CMakeFiles/cmTC_4fb05.dir/CheckIncludeFile.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/CheckIncludeFile.c
Linking C executable cmTC_4fb05
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_4fb05.dir/link.txt --verbose=1
/usr/bin/cc CMakeFiles/cmTC_4fb05.dir/CheckIncludeFile.c.o -o cmTC_4fb05
Building C object CMakeFiles/cmTC_bb3bb.dir/CheckIncludeFile.c.o
/usr/bin/cc -fPIE -o CMakeFiles/cmTC_bb3bb.dir/CheckIncludeFile.c.o -c /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp/CheckIncludeFile.c
Linking C executable cmTC_bb3bb
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_bb3bb.dir/link.txt --verbose=1
/usr/bin/cc CMakeFiles/cmTC_bb3bb.dir/CheckIncludeFile.c.o -o cmTC_bb3bb
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
@ -476,13 +476,13 @@ make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFi
Determining if the function pthread_create exists in the pthread passed with the following output:
Change Dir: /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp
Run Build Command(s):/usr/bin/make cmTC_0fd95/fast && /usr/bin/make -f CMakeFiles/cmTC_0fd95.dir/build.make CMakeFiles/cmTC_0fd95.dir/build
Run Build Command(s):/usr/bin/make cmTC_16980/fast && /usr/bin/make -f CMakeFiles/cmTC_16980.dir/build.make CMakeFiles/cmTC_16980.dir/build
make[1]: Entering directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'
Building C object CMakeFiles/cmTC_0fd95.dir/CheckFunctionExists.c.o
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -fPIE -o CMakeFiles/cmTC_0fd95.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c
Linking C executable cmTC_0fd95
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_0fd95.dir/link.txt --verbose=1
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create CMakeFiles/cmTC_0fd95.dir/CheckFunctionExists.c.o -o cmTC_0fd95 -lpthread
Building C object CMakeFiles/cmTC_16980.dir/CheckFunctionExists.c.o
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create -fPIE -o CMakeFiles/cmTC_16980.dir/CheckFunctionExists.c.o -c /usr/share/cmake-3.16/Modules/CheckFunctionExists.c
Linking C executable cmTC_16980
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_16980.dir/link.txt --verbose=1
/usr/bin/cc -DCHECK_FUNCTION_EXISTS=pthread_create CMakeFiles/cmTC_16980.dir/CheckFunctionExists.c.o -o cmTC_16980 -lpthread
make[1]: Leaving directory '/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/CMakeTmp'

77
build/CMakeFiles/Makefile.cmake
View File

@ -8,12 +8,14 @@ set(CMAKE_DEPENDS_GENERATOR "Unix Makefiles")
set(CMAKE_MAKEFILE_DEPENDS
"CMakeCache.txt"
"/home/duongtd/robotics_core/common_msgs/geometry_msgs/CMakeLists.txt"
"/home/duongtd/robotics_core/common_msgs/nav_msgs/CMakeLists.txt"
"/home/duongtd/robotics_core/common_msgs/sensor_msgs/CMakeLists.txt"
"/home/duongtd/robotics_core/common_msgs/std_msgs/CMakeLists.txt"
"../CMakeLists.txt"
"CMakeFiles/3.16.3/CMakeCCompiler.cmake"
"CMakeFiles/3.16.3/CMakeCXXCompiler.cmake"
"CMakeFiles/3.16.3/CMakeSystem.cmake"
"/home/duongtd/robotics_core/map_msgs/CMakeLists.txt"
"/usr/lib/cmake/eigen3/Eigen3Config.cmake"
"/usr/lib/cmake/eigen3/Eigen3ConfigVersion.cmake"
"/usr/lib/cmake/eigen3/Eigen3Targets.cmake"
@ -34,28 +36,96 @@ set(CMAKE_MAKEFILE_DEPENDS
"/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/boost_thread-config.cmake"
"/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/libboost_thread-variant-shared.cmake"
"/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/libboost_thread-variant-static.cmake"
"/usr/share/cmake-3.16/Modules/CMakeCCompiler.cmake.in"
"/usr/share/cmake-3.16/Modules/CMakeCCompilerABI.c"
"/usr/share/cmake-3.16/Modules/CMakeCInformation.cmake"
"/usr/share/cmake-3.16/Modules/CMakeCXXCompiler.cmake.in"
"/usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp"
"/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"
"/usr/share/cmake-3.16/Modules/CMakeDetermineCCompiler.cmake"
"/usr/share/cmake-3.16/Modules/CMakeDetermineCXXCompiler.cmake"
"/usr/share/cmake-3.16/Modules/CMakeDetermineCompileFeatures.cmake"
"/usr/share/cmake-3.16/Modules/CMakeDetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/CMakeDetermineCompilerABI.cmake"
"/usr/share/cmake-3.16/Modules/CMakeDetermineCompilerId.cmake"
"/usr/share/cmake-3.16/Modules/CMakeDetermineSystem.cmake"
"/usr/share/cmake-3.16/Modules/CMakeFindBinUtils.cmake"
"/usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake"
"/usr/share/cmake-3.16/Modules/CMakeGenericSystem.cmake"
"/usr/share/cmake-3.16/Modules/CMakeInitializeConfigs.cmake"
"/usr/share/cmake-3.16/Modules/CMakeLanguageInformation.cmake"
"/usr/share/cmake-3.16/Modules/CMakeParseImplicitIncludeInfo.cmake"
"/usr/share/cmake-3.16/Modules/CMakeParseImplicitLinkInfo.cmake"
"/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"
"/usr/share/cmake-3.16/Modules/CMakeTestCCompiler.cmake"
"/usr/share/cmake-3.16/Modules/CMakeTestCXXCompiler.cmake"
"/usr/share/cmake-3.16/Modules/CMakeTestCompilerCommon.cmake"
"/usr/share/cmake-3.16/Modules/CMakeUnixFindMake.cmake"
"/usr/share/cmake-3.16/Modules/CheckCSourceCompiles.cmake"
"/usr/share/cmake-3.16/Modules/CheckFunctionExists.c"
"/usr/share/cmake-3.16/Modules/CheckIncludeFile.c.in"
"/usr/share/cmake-3.16/Modules/CheckIncludeFile.cmake"
"/usr/share/cmake-3.16/Modules/CheckLibraryExists.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/ADSP-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/ARMCC-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/ARMClang-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/AppleClang-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/Borland-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/Bruce-C-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/CMakeCommonCompilerMacros.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/Clang-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/Clang-DetermineCompilerInternal.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/Comeau-CXX-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/Compaq-C-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/Compaq-CXX-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/Cray-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/Embarcadero-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/Fujitsu-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/GHS-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/GNU-C-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/GNU-C.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/GNU-CXX-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/GNU-CXX.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/GNU-FindBinUtils.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/GNU.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/HP-C-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/HP-CXX-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/IAR-DetermineCompiler.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/IBMCPP-C-DetermineVersionInternal.cmake"
"/usr/share/cmake-3.16/Modules/Compiler/IBMCPP-CXX-DetermineVersionInternal.cmake"
"/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:

48
build/CMakeFiles/Makefile2
View File

@ -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.

4
build/CMakeFiles/TargetDirectories.txt
View File

@ -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

136
build/CMakeFiles/costmap_2d.dir/CXX.includecache
View File

@ -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
-

2
build/CMakeFiles/costmap_2d.dir/DependInfo.cmake
View File

@ -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.

2
build/CMakeFiles/costmap_2d.dir/flags.make
View File

@ -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

BIN
build/CMakeFiles/costmap_2d.dir/src/layer.cpp.o
View File

Binary file not shown.

110
build/CMakeFiles/layers.dir/CXX.includecache
View File

@ -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
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Quaternion.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Transform.h
geometry_msgs/Vector3.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/geometry_msgs/Vector3.h
geometry_msgs/Quaternion.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/geometry_msgs/Quaternion.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/TransformStamped.h
std_msgs/Header.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/std_msgs/Header.h
geometry_msgs/Transform.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/geometry_msgs/Transform.h
string
-
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Vector3.h
/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/MapMetaData.h
cstdint
-
string
-
vector
-
geometry_msgs/Point32.h
-
geometry_msgs/Pose.h
/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/geometry_msgs/Pose.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PolygonStamped.h
std_msgs/Header.h
/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/OccupancyGrid.h
cstdint
-
geometry_msgs/Polygon.h
string
-
vector
-
std_msgs/Header.h
/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/std_msgs/Header.h
nav_msgs/MapMetaData.h
-
/home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
@ -100,15 +134,21 @@ chrono
cstdint
-
/home/duongtd/robotics_core/costmap_2d/plugins/inflation_layer.cpp
algorithm
-
costmap_2d/inflation_layer.h
/home/duongtd/robotics_core/costmap_2d/plugins/static_layer.cpp
costmap_2d/static_layer.h
-
costmap_2d/costmap_math.h
-
costmap_2d/footprint.h
tf2/convert.h
-
boost/thread.hpp
tf2/utils.h
-
boost/dll/alias.hpp
-
/home/duongtd/robotics_core/map_msgs/include/map_msgs/OccupancyGridUpdate.h
vector
-
std_msgs/Header.h
/home/duongtd/robotics_core/map_msgs/include/map_msgs/std_msgs/Header.h

4
build/CMakeFiles/layers.dir/DependInfo.cmake
View File

@ -5,6 +5,8 @@ set(CMAKE_DEPENDS_LANGUAGES
# The set of files for implicit dependencies of each language:
set(CMAKE_DEPENDS_CHECK_CXX
"/home/duongtd/robotics_core/costmap_2d/plugins/inflation_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o"
"/home/duongtd/robotics_core/costmap_2d/plugins/obstacle_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o"
"/home/duongtd/robotics_core/costmap_2d/plugins/static_layer.cpp" "/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles/layers.dir/plugins/static_layer.cpp.o"
)
set(CMAKE_CXX_COMPILER_ID "GNU")
@ -23,6 +25,8 @@ 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.

34
build/CMakeFiles/layers.dir/build.make
View File

@ -70,17 +70,47 @@ CMakeFiles/layers.dir/plugins/inflation_layer.cpp.s: cmake_force
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/layers.dir/plugins/inflation_layer.cpp.s"
/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/robotics_core/costmap_2d/plugins/inflation_layer.cpp -o CMakeFiles/layers.dir/plugins/inflation_layer.cpp.s
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: CMakeFiles/layers.dir/flags.make
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../plugins/obstacle_layer.cpp
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "Building CXX object CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o"
/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o -c /home/duongtd/robotics_core/costmap_2d/plugins/obstacle_layer.cpp
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.i: cmake_force
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.i"
/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/robotics_core/costmap_2d/plugins/obstacle_layer.cpp > CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.i
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.s: cmake_force
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.s"
/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/robotics_core/costmap_2d/plugins/obstacle_layer.cpp -o CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.s
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: CMakeFiles/layers.dir/flags.make
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: ../plugins/static_layer.cpp
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=$(CMAKE_PROGRESS_3) "Building CXX object CMakeFiles/layers.dir/plugins/static_layer.cpp.o"
/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/layers.dir/plugins/static_layer.cpp.o -c /home/duongtd/robotics_core/costmap_2d/plugins/static_layer.cpp
CMakeFiles/layers.dir/plugins/static_layer.cpp.i: cmake_force
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/layers.dir/plugins/static_layer.cpp.i"
/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/robotics_core/costmap_2d/plugins/static_layer.cpp > CMakeFiles/layers.dir/plugins/static_layer.cpp.i
CMakeFiles/layers.dir/plugins/static_layer.cpp.s: cmake_force
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/layers.dir/plugins/static_layer.cpp.s"
/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/robotics_core/costmap_2d/plugins/static_layer.cpp -o CMakeFiles/layers.dir/plugins/static_layer.cpp.s
# Object files for target layers
layers_OBJECTS = \
"CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o"
"CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o" \
"CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o" \
"CMakeFiles/layers.dir/plugins/static_layer.cpp.o"
# External object files for target layers
layers_EXTERNAL_OBJECTS =
liblayers.a: CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o
liblayers.a: CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o
liblayers.a: CMakeFiles/layers.dir/plugins/static_layer.cpp.o
liblayers.a: CMakeFiles/layers.dir/build.make
liblayers.a: CMakeFiles/layers.dir/link.txt
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "Linking CXX static library liblayers.a"
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/duongtd/robotics_core/costmap_2d/build/CMakeFiles --progress-num=$(CMAKE_PROGRESS_4) "Linking CXX static library liblayers.a"
$(CMAKE_COMMAND) -P CMakeFiles/layers.dir/cmake_clean_target.cmake
$(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/layers.dir/link.txt --verbose=$(VERBOSE)

2
build/CMakeFiles/layers.dir/cmake_clean.cmake
View File

@ -1,5 +1,7 @@
file(REMOVE_RECURSE
"CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o"
"CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o"
"CMakeFiles/layers.dir/plugins/static_layer.cpp.o"
"liblayers.a"
"liblayers.pdb"
)

47
build/CMakeFiles/layers.dir/depend.internal
View File

@ -15,3 +15,50 @@ CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PolygonStamped.h
/home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
/home/duongtd/robotics_core/costmap_2d/plugins/inflation_layer.cpp
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o
../include/costmap_2d/cost_values.h
../include/costmap_2d/costmap_2d.h
../include/costmap_2d/costmap_layer.h
../include/costmap_2d/footprint.h
../include/costmap_2d/layer.h
../include/costmap_2d/layered_costmap.h
../include/costmap_2d/observation.h
../include/costmap_2d/observation_buffer.h
../include/costmap_2d/obstacle_layer.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
/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
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Polygon.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PolygonStamped.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Pose.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Quaternion.h
/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/MapMetaData.h
/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/OccupancyGrid.h
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/ChannelFloat32.h
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/LaserScan.h
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud.h
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud2.h
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointField.h
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/point_cloud_conversion.h
/home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/point_field_conversion.h
/home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
/home/duongtd/robotics_core/costmap_2d/plugins/obstacle_layer.cpp
CMakeFiles/layers.dir/plugins/static_layer.cpp.o
../include/costmap_2d/cost_values.h
../include/costmap_2d/costmap_2d.h
../include/costmap_2d/costmap_layer.h
../include/costmap_2d/costmap_math.h
../include/costmap_2d/layer.h
../include/costmap_2d/layered_costmap.h
../include/costmap_2d/static_layer.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Pose.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Quaternion.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Transform.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/TransformStamped.h
/home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Vector3.h
/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/MapMetaData.h
/home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/OccupancyGrid.h
/home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
/home/duongtd/robotics_core/costmap_2d/plugins/static_layer.cpp
/home/duongtd/robotics_core/map_msgs/include/map_msgs/OccupancyGridUpdate.h

47
build/CMakeFiles/layers.dir/depend.make
View File

@ -15,3 +15,50 @@ CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o: /home/duongtd/robotics_core
CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o: ../plugins/inflation_layer.cpp
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../include/costmap_2d/cost_values.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../include/costmap_2d/costmap_2d.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../include/costmap_2d/costmap_layer.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../include/costmap_2d/footprint.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../include/costmap_2d/layer.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../include/costmap_2d/layered_costmap.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../include/costmap_2d/observation.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../include/costmap_2d/observation_buffer.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../include/costmap_2d/obstacle_layer.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point32.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PointStamped.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Polygon.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/PolygonStamped.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Pose.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Quaternion.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/MapMetaData.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/OccupancyGrid.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/ChannelFloat32.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/LaserScan.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointCloud2.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/PointField.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/point_cloud_conversion.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/sensor_msgs/include/sensor_msgs/point_field_conversion.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o: ../plugins/obstacle_layer.cpp
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: ../include/costmap_2d/cost_values.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: ../include/costmap_2d/costmap_2d.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: ../include/costmap_2d/costmap_layer.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: ../include/costmap_2d/costmap_math.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: ../include/costmap_2d/layer.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: ../include/costmap_2d/layered_costmap.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: ../include/costmap_2d/static_layer.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Point.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Pose.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Quaternion.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Transform.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/TransformStamped.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/geometry_msgs/include/geometry_msgs/Vector3.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/MapMetaData.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/nav_msgs/include/nav_msgs/OccupancyGrid.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: /home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: ../plugins/static_layer.cpp
CMakeFiles/layers.dir/plugins/static_layer.cpp.o: /home/duongtd/robotics_core/map_msgs/include/map_msgs/OccupancyGridUpdate.h

2
build/CMakeFiles/layers.dir/flags.make
View File

@ -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

2
build/CMakeFiles/layers.dir/link.txt
View File

@ -1,2 +1,2 @@
/usr/bin/ar qc liblayers.a CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o
/usr/bin/ar qc liblayers.a CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o CMakeFiles/layers.dir/plugins/static_layer.cpp.o
/usr/bin/ranlib liblayers.a

BIN
build/CMakeFiles/layers.dir/plugins/inflation_layer.cpp.o
View File

Binary file not shown.

BIN
build/CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o Normal file
View File

Binary file not shown.

BIN
build/CMakeFiles/layers.dir/plugins/static_layer.cpp.o Normal file
View File

Binary file not shown.

2
build/CMakeFiles/layers.dir/progress.make
View File

@ -1,3 +1,5 @@
CMAKE_PROGRESS_1 = 10
CMAKE_PROGRESS_2 = 11
CMAKE_PROGRESS_3 = 12
CMAKE_PROGRESS_4 = 13

2
build/CMakeFiles/progress.marks
View File

@ -1 +1 @@
13
15

60
build/Makefile
View File

@ -176,6 +176,60 @@ plugins/inflation_layer.cpp.s:
$(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/inflation_layer.cpp.s
.PHONY : plugins/inflation_layer.cpp.s
plugins/obstacle_layer.o: plugins/obstacle_layer.cpp.o
.PHONY : plugins/obstacle_layer.o
# target to build an object file
plugins/obstacle_layer.cpp.o:
$(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.o
.PHONY : plugins/obstacle_layer.cpp.o
plugins/obstacle_layer.i: plugins/obstacle_layer.cpp.i
.PHONY : plugins/obstacle_layer.i
# target to preprocess a source file
plugins/obstacle_layer.cpp.i:
$(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.i
.PHONY : plugins/obstacle_layer.cpp.i
plugins/obstacle_layer.s: plugins/obstacle_layer.cpp.s
.PHONY : plugins/obstacle_layer.s
# target to generate assembly for a file
plugins/obstacle_layer.cpp.s:
$(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/obstacle_layer.cpp.s
.PHONY : plugins/obstacle_layer.cpp.s
plugins/static_layer.o: plugins/static_layer.cpp.o
.PHONY : plugins/static_layer.o
# target to build an object file
plugins/static_layer.cpp.o:
$(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/static_layer.cpp.o
.PHONY : plugins/static_layer.cpp.o
plugins/static_layer.i: plugins/static_layer.cpp.i
.PHONY : plugins/static_layer.i
# target to preprocess a source file
plugins/static_layer.cpp.i:
$(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/static_layer.cpp.i
.PHONY : plugins/static_layer.cpp.i
plugins/static_layer.s: plugins/static_layer.cpp.s
.PHONY : plugins/static_layer.s
# target to generate assembly for a file
plugins/static_layer.cpp.s:
$(MAKE) -f CMakeFiles/layers.dir/build.make CMakeFiles/layers.dir/plugins/static_layer.cpp.s
.PHONY : plugins/static_layer.cpp.s
src/array_parser.o: src/array_parser.cpp.o
.PHONY : src/array_parser.o
@ -406,6 +460,12 @@ help:
@echo "... plugins/inflation_layer.o"
@echo "... plugins/inflation_layer.i"
@echo "... plugins/inflation_layer.s"
@echo "... plugins/obstacle_layer.o"
@echo "... plugins/obstacle_layer.i"
@echo "... plugins/obstacle_layer.s"
@echo "... plugins/static_layer.o"
@echo "... plugins/static_layer.i"
@echo "... plugins/static_layer.s"
@echo "... src/array_parser.o"
@echo "... src/array_parser.i"
@echo "... src/array_parser.s"

2
build/cmake_install.cmake
View File

@ -41,6 +41,8 @@ if(NOT CMAKE_INSTALL_LOCAL_ONLY)
# Include the install script for each subdirectory.
include("/home/duongtd/robotics_core/costmap_2d/build/sensor_msgs_build/cmake_install.cmake")
include("/home/duongtd/robotics_core/costmap_2d/build/geometry_msgs_build/cmake_install.cmake")
include("/home/duongtd/robotics_core/costmap_2d/build/nav_msgs_build/cmake_install.cmake")
include("/home/duongtd/robotics_core/costmap_2d/build/map_msgs_build/cmake_install.cmake")
endif()

BIN
build/libcostmap_2d.a
View File

Binary file not shown.

BIN
build/liblayers.a
View File

Binary file not shown.

16
build/map_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake Normal file
View File

@ -0,0 +1,16 @@
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.16
# Relative path conversion top directories.
set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/duongtd/robotics_core/map_msgs")
set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/duongtd/robotics_core/costmap_2d/build")
# Force unix paths in dependencies.
set(CMAKE_FORCE_UNIX_PATHS 1)
# The C and CXX include file regular expressions for this directory.
set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})

1
build/map_msgs_build/CMakeFiles/progress.marks Normal file
View File

@ -0,0 +1 @@
0

134
build/map_msgs_build/Makefile Normal file
View File

@ -0,0 +1,134 @@
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.16
# Default target executed when no arguments are given to make.
default_target: all
.PHONY : default_target
# Allow only one "make -f Makefile2" at a time, but pass parallelism.
.NOTPARALLEL:
#=============================================================================
# Special targets provided by cmake.
# Disable implicit rules so canonical targets will work.
.SUFFIXES:
# Remove some rules from gmake that .SUFFIXES does not remove.
SUFFIXES =
.SUFFIXES: .hpux_make_needs_suffix_list
# Suppress display of executed commands.
$(VERBOSE).SILENT:
# A target that is always out of date.
cmake_force:
.PHONY : cmake_force
#=============================================================================
# Set environment variables for the build.
# The shell in which to execute make rules.
SHELL = /bin/sh
# The CMake executable.
CMAKE_COMMAND = /usr/bin/cmake
# The command to remove a file.
RM = /usr/bin/cmake -E remove -f
# Escaping for special characters.
EQUALS = =
# The top-level source directory on which CMake was run.
CMAKE_SOURCE_DIR = /home/duongtd/robotics_core/costmap_2d
# The top-level build directory on which CMake was run.
CMAKE_BINARY_DIR = /home/duongtd/robotics_core/costmap_2d/build
#=============================================================================
# Targets provided globally by CMake.
# Special rule for the target rebuild_cache
rebuild_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
/usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
.PHONY : rebuild_cache
# Special rule for the target rebuild_cache
rebuild_cache/fast: rebuild_cache
.PHONY : rebuild_cache/fast
# Special rule for the target edit_cache
edit_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
.PHONY : edit_cache
# Special rule for the target edit_cache
edit_cache/fast: edit_cache
.PHONY : edit_cache/fast
# The main all target
all: cmake_check_build_system
cd /home/duongtd/robotics_core/costmap_2d/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles /home/duongtd/robotics_core/costmap_2d/build/map_msgs_build/CMakeFiles/progress.marks
cd /home/duongtd/robotics_core/costmap_2d/build && $(MAKE) -f CMakeFiles/Makefile2 map_msgs_build/all
$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 0
.PHONY : all
# The main clean target
clean:
cd /home/duongtd/robotics_core/costmap_2d/build && $(MAKE) -f CMakeFiles/Makefile2 map_msgs_build/clean
.PHONY : clean
# The main clean target
clean/fast: clean
.PHONY : clean/fast
# Prepare targets for installation.
preinstall: all
cd /home/duongtd/robotics_core/costmap_2d/build && $(MAKE) -f CMakeFiles/Makefile2 map_msgs_build/preinstall
.PHONY : preinstall
# Prepare targets for installation.
preinstall/fast:
cd /home/duongtd/robotics_core/costmap_2d/build && $(MAKE) -f CMakeFiles/Makefile2 map_msgs_build/preinstall
.PHONY : preinstall/fast
# clear depends
depend:
cd /home/duongtd/robotics_core/costmap_2d/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
.PHONY : depend
# Help Target
help:
@echo "The following are some of the valid targets for this Makefile:"
@echo "... all (the default if no target is provided)"
@echo "... clean"
@echo "... depend"
@echo "... rebuild_cache"
@echo "... edit_cache"
.PHONY : help
#=============================================================================
# Special targets to cleanup operation of make.
# Special rule to run CMake to check the build system integrity.
# No rule that depends on this can have commands that come from listfiles
# because they might be regenerated.
cmake_check_build_system:
cd /home/duongtd/robotics_core/costmap_2d/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
.PHONY : cmake_check_build_system

39
build/map_msgs_build/cmake_install.cmake Normal file
View File

@ -0,0 +1,39 @@
# Install script for directory: /home/duongtd/robotics_core/map_msgs
# Set the install prefix
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr/local")
endif()
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
# Set the install configuration name.
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
if(BUILD_TYPE)
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
else()
set(CMAKE_INSTALL_CONFIG_NAME "")
endif()
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
endif()
# Set the component getting installed.
if(NOT CMAKE_INSTALL_COMPONENT)
if(COMPONENT)
message(STATUS "Install component: \"${COMPONENT}\"")
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
else()
set(CMAKE_INSTALL_COMPONENT)
endif()
endif()
# Install shared libraries without execute permission?
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
# Is this installation the result of a crosscompile?
if(NOT DEFINED CMAKE_CROSSCOMPILING)
set(CMAKE_CROSSCOMPILING "FALSE")
endif()

16
build/nav_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake Normal file
View File

@ -0,0 +1,16 @@
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.16
# Relative path conversion top directories.
set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/duongtd/robotics_core/common_msgs/nav_msgs")
set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/duongtd/robotics_core/costmap_2d/build")
# Force unix paths in dependencies.
set(CMAKE_FORCE_UNIX_PATHS 1)
# The C and CXX include file regular expressions for this directory.
set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})

1
build/nav_msgs_build/CMakeFiles/progress.marks Normal file
View File

@ -0,0 +1 @@
0

134
build/nav_msgs_build/Makefile Normal file
View File

@ -0,0 +1,134 @@
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.16
# Default target executed when no arguments are given to make.
default_target: all
.PHONY : default_target
# Allow only one "make -f Makefile2" at a time, but pass parallelism.
.NOTPARALLEL:
#=============================================================================
# Special targets provided by cmake.
# Disable implicit rules so canonical targets will work.
.SUFFIXES:
# Remove some rules from gmake that .SUFFIXES does not remove.
SUFFIXES =
.SUFFIXES: .hpux_make_needs_suffix_list
# Suppress display of executed commands.
$(VERBOSE).SILENT:
# A target that is always out of date.
cmake_force:
.PHONY : cmake_force
#=============================================================================
# Set environment variables for the build.
# The shell in which to execute make rules.
SHELL = /bin/sh
# The CMake executable.
CMAKE_COMMAND = /usr/bin/cmake
# The command to remove a file.
RM = /usr/bin/cmake -E remove -f
# Escaping for special characters.
EQUALS = =
# The top-level source directory on which CMake was run.
CMAKE_SOURCE_DIR = /home/duongtd/robotics_core/costmap_2d
# The top-level build directory on which CMake was run.
CMAKE_BINARY_DIR = /home/duongtd/robotics_core/costmap_2d/build
#=============================================================================
# Targets provided globally by CMake.
# Special rule for the target rebuild_cache
rebuild_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
/usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
.PHONY : rebuild_cache
# Special rule for the target rebuild_cache
rebuild_cache/fast: rebuild_cache
.PHONY : rebuild_cache/fast
# Special rule for the target edit_cache
edit_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
.PHONY : edit_cache
# Special rule for the target edit_cache
edit_cache/fast: edit_cache
.PHONY : edit_cache/fast
# The main all target
all: cmake_check_build_system
cd /home/duongtd/robotics_core/costmap_2d/build && $(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles /home/duongtd/robotics_core/costmap_2d/build/nav_msgs_build/CMakeFiles/progress.marks
cd /home/duongtd/robotics_core/costmap_2d/build && $(MAKE) -f CMakeFiles/Makefile2 nav_msgs_build/all
$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/robotics_core/costmap_2d/build/CMakeFiles 0
.PHONY : all
# The main clean target
clean:
cd /home/duongtd/robotics_core/costmap_2d/build && $(MAKE) -f CMakeFiles/Makefile2 nav_msgs_build/clean
.PHONY : clean
# The main clean target
clean/fast: clean
.PHONY : clean/fast
# Prepare targets for installation.
preinstall: all
cd /home/duongtd/robotics_core/costmap_2d/build && $(MAKE) -f CMakeFiles/Makefile2 nav_msgs_build/preinstall
.PHONY : preinstall
# Prepare targets for installation.
preinstall/fast:
cd /home/duongtd/robotics_core/costmap_2d/build && $(MAKE) -f CMakeFiles/Makefile2 nav_msgs_build/preinstall
.PHONY : preinstall/fast
# clear depends
depend:
cd /home/duongtd/robotics_core/costmap_2d/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
.PHONY : depend
# Help Target
help:
@echo "The following are some of the valid targets for this Makefile:"
@echo "... all (the default if no target is provided)"
@echo "... clean"
@echo "... depend"
@echo "... rebuild_cache"
@echo "... edit_cache"
.PHONY : help
#=============================================================================
# Special targets to cleanup operation of make.
# Special rule to run CMake to check the build system integrity.
# No rule that depends on this can have commands that come from listfiles
# because they might be regenerated.
cmake_check_build_system:
cd /home/duongtd/robotics_core/costmap_2d/build && $(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
.PHONY : cmake_check_build_system

39
build/nav_msgs_build/cmake_install.cmake Normal file
View File

@ -0,0 +1,39 @@
# Install script for directory: /home/duongtd/robotics_core/common_msgs/nav_msgs
# Set the install prefix
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr/local")
endif()
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
# Set the install configuration name.
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
if(BUILD_TYPE)
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
else()
set(CMAKE_INSTALL_CONFIG_NAME "")
endif()
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
endif()
# Set the component getting installed.
if(NOT CMAKE_INSTALL_COMPONENT)
if(COMPONENT)
message(STATUS "Install component: \"${COMPONENT}\"")
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
else()
set(CMAKE_INSTALL_COMPONENT)
endif()
endif()
# Install shared libraries without execute permission?
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
# Is this installation the result of a crosscompile?
if(NOT DEFINED CMAKE_CROSSCOMPILING)
set(CMAKE_CROSSCOMPILING "FALSE")
endif()

2
build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/CXX.includecache
View File

@ -55,6 +55,8 @@ sensor_msgs/PointCloud2.h
/home/duongtd/robotics_core/common_msgs/sensor_msgs/test/sensor_msgs/PointCloud2.h
iostream
-
yaml-cpp/yaml.h
-
/home/duongtd/robotics_core/common_msgs/std_msgs/include/std_msgs/Header.h
string

2
build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/link.txt
View File

@ -1 +1 @@
/usr/bin/c++ CMakeFiles/test_battery_state.dir/test/main.cpp.o -o test_battery_state
/usr/bin/c++ CMakeFiles/test_battery_state.dir/test/main.cpp.o -o test_battery_state -lyaml-cpp

4
build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/progress.make
View File

@ -1,3 +1,3 @@
CMAKE_PROGRESS_1 = 12
CMAKE_PROGRESS_2 = 13
CMAKE_PROGRESS_1 = 14
CMAKE_PROGRESS_2 = 15

BIN
build/sensor_msgs_build/CMakeFiles/test_battery_state.dir/test/main.cpp.o
View File

Binary file not shown.

BIN
build/sensor_msgs_build/test_battery_state
View File

Binary file not shown.

5
config/config.yaml Normal file
View File

@ -0,0 +1,5 @@
inflation_layer:
enabled: true
inflate_unknown: false
cost_scaling_factor: 15.0
inflation_radius: 0.55

12
include/costmap_2d/inflation_layer.h
View File

@ -2,14 +2,13 @@
#ifndef COSTMAP_2D_INFLATION_LAYER_H_
#define COSTMAP_2D_INFLATION_LAYER_H_
// #include <ros/ros.h>
#include <costmap_2d/layer.h>
#include <costmap_2d/layered_costmap.h>
// #include <costmap_2d/InflationPluginConfig.h>
// #include <dynamic_reconfigure/server.h>
#include <boost/thread.hpp>
#include <boost/dll/alias.hpp>
#include <stdexcept>
#include <iostream>
#include <yaml-cpp/yaml.h>
namespace costmap_2d
{
@ -46,8 +45,6 @@ public:
virtual ~InflationLayer()
{
deleteKernels();
// if (dsrv_)
// delete dsrv_;
if (seen_)
delete[] seen_;
}
@ -155,8 +152,7 @@ private:
double** cached_distances_;
double last_min_x_, last_min_y_, last_max_x_, last_max_y_;
// dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig> *dsrv_;
// void reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level);
bool getParams();
bool need_reinflation_; ///< Indicates that the entire costmap should be reinflated next time around.
};

4
include/costmap_2d/layer.h
View File

@ -51,7 +51,7 @@ class Layer
public:
Layer();
void initialize(LayeredCostmap* parent, std::string name, std::shared_ptr<tf2::BufferCore> *tf);
void initialize(LayeredCostmap* parent, std::string name, tf2::BufferCore *tf);
/**
* @brief This is called by the LayeredCostmap to poll this plugin as to how
@ -140,7 +140,7 @@ protected:
bool current_;
bool enabled_;
std::string name_;
std::shared_ptr<tf2::BufferCore> *tf_;
tf2::BufferCore *tf_;
private:
std::vector<geometry_msgs::Point> footprint_spec_;

77
include/costmap_2d/obstacle_layer.h
View File

@ -38,7 +38,6 @@
#ifndef COSTMAP_2D_OBSTACLE_LAYER_H_
#define COSTMAP_2D_OBSTACLE_LAYER_H_
#include <ros/ros.h>
#include <costmap_2d/costmap_layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/observation_buffer.h>
@ -46,14 +45,14 @@
#include <nav_msgs/OccupancyGrid.h>
#include <sensor_msgs/LaserScan.h>
#include <laser_geometry/laser_geometry.h>
// #include <laser_geometry/laser_geometry.h>
#include <sensor_msgs/PointCloud.h>
#include <sensor_msgs/PointCloud2.h>
#include <sensor_msgs/point_cloud_conversion.h>
#include <tf2_ros/message_filter.h>
#include <message_filters/subscriber.h>
#include <dynamic_reconfigure/server.h>
#include <costmap_2d/ObstaclePluginConfig.h>
// #include <tf2_ros/message_filter.h>
// #include <message_filters/subscriber.h>
// #include <dynamic_reconfigure/server.h>
// #include <costmap_2d/ObstaclePluginConfig.h>
#include <costmap_2d/footprint.h>
namespace costmap_2d
@ -77,44 +76,43 @@ public:
virtual void deactivate();
virtual void reset();
/**
* @brief A callback to handle buffering LaserScan messages
* @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update
*/
void laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
// /**
// * @brief A callback to handle buffering LaserScan messages
// * @param message The message returned from a message notifier
// * @param buffer A pointer to the observation buffer to update
// */
// void laserScanCallback(const sensor_msgs::LaserScanConstPtr& message,
// const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
/**
* @brief A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max.
* @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update
*/
void laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& message,
const boost::shared_ptr<ObservationBuffer>& buffer);
// /**
// * @brief A callback to handle buffering LaserScan messages which need filtering to turn Inf values into range_max.
// * @param message The message returned from a message notifier
// * @param buffer A pointer to the observation buffer to update
// */
// void laserScanValidInfCallback(const sensor_msgs::LaserScanConstPtr& message,
// const boost::shared_ptr<ObservationBuffer>& buffer);
/**
* @brief A callback to handle buffering PointCloud messages
* @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update
*/
void pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message,
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
// /**
// * @brief A callback to handle buffering PointCloud messages
// * @param message The message returned from a message notifier
// * @param buffer A pointer to the observation buffer to update
// */
// void pointCloudCallback(const sensor_msgs::PointCloudConstPtr& message,
// const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
/**
* @brief A callback to handle buffering PointCloud2 messages
* @param message The message returned from a message notifier
* @param buffer A pointer to the observation buffer to update
*/
void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message,
const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
// /**
// * @brief A callback to handle buffering PointCloud2 messages
// * @param message The message returned from a message notifier
// * @param buffer A pointer to the observation buffer to update
// */
// void pointCloud2Callback(const sensor_msgs::PointCloud2ConstPtr& message,
// const boost::shared_ptr<costmap_2d::ObservationBuffer>& buffer);
// for testing purposes
void addStaticObservation(costmap_2d::Observation& obs, bool marking, bool clearing);
void clearStaticObservations(bool marking, bool clearing);
protected:
virtual void setupDynamicReconfigure(ros::NodeHandle& nh);
/**
* @brief Get the observations used to mark space
@ -152,10 +150,10 @@ protected:
std::string global_frame_; ///< @brief The global frame for the costmap
double max_obstacle_height_; ///< @brief Max Obstacle Height
laser_geometry::LaserProjection projector_; ///< @brief Used to project laser scans into point clouds
// laser_geometry::LaserProjection projector_; ///< @brief Used to project laser scans into point clouds
std::vector<boost::shared_ptr<message_filters::SubscriberBase> > observation_subscribers_; ///< @brief Used for the observation message filters
std::vector<boost::shared_ptr<tf2_ros::MessageFilterBase> > observation_notifiers_; ///< @brief Used to make sure that transforms are available for each sensor
// std::vector<boost::shared_ptr<message_filters::SubscriberBase> > observation_subscribers_; ///< @brief Used for the observation message filters
// std::vector<boost::shared_ptr<tf2_ros::MessageFilterBase> > observation_notifiers_; ///< @brief Used to make sure that transforms are available for each sensor
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > observation_buffers_; ///< @brief Used to store observations from various sensors
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > marking_buffers_; ///< @brief Used to store observation buffers used for marking obstacles
std::vector<boost::shared_ptr<costmap_2d::ObservationBuffer> > clearing_buffers_; ///< @brief Used to store observation buffers used for clearing obstacles
@ -164,12 +162,11 @@ protected:
std::vector<costmap_2d::Observation> static_clearing_observations_, static_marking_observations_;
bool rolling_window_;
dynamic_reconfigure::Server<costmap_2d::ObstaclePluginConfig> *dsrv_;
int combination_method_;
private:
void reconfigureCB(costmap_2d::ObstaclePluginConfig &config, uint32_t level);
bool getParams();
};
} // namespace costmap_2d

17
include/costmap_2d/static_layer.h
View File

@ -3,12 +3,13 @@
#include <costmap_2d/costmap_layer.h>
#include <costmap_2d/layered_costmap.h>
#include <costmap_2d/GenericPluginConfig.h>
#include <dynamic_reconfigure/server.h>
// #include <costmap_2d/GenericPluginConfig.h>
// #include <dynamic_reconfigure/server.h>
#include <nav_msgs/OccupancyGrid.h>
#include <map_msgs/OccupancyGridUpdate.h>
#include <message_filters/subscriber.h>
// #include <message_filters/subscriber.h>
#include <string>
#include <geometry_msgs/TransformStamped.h>
namespace costmap_2d
{
@ -28,10 +29,10 @@ public:
virtual void updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j);
virtual void matchSize();
virtual void incomingMap(const nav_msgs::OccupancyGrid& new_map);
virtual void incomingUpdate(const map_msgs::OccupancyGridUpdate& update);
protected:
virtual unsigned char interpretValue(unsigned char value);
virtual void incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map);
virtual void incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update);
unsigned char* threshold_;
std::string base_frame_id_;
std::string global_frame_; ///< @brief The global frame for the costmap
@ -45,7 +46,7 @@ protected:
bool use_maximum_;
bool first_map_only_; ///< @brief Store the first static map and reuse it on reinitializing
bool trinary_costmap_;
ros::Subscriber map_sub_, map_update_sub_;
// ros::Subscriber map_sub_, map_update_sub_;
unsigned char lethal_threshold_, unknown_cost_value_;
private:
@ -55,8 +56,8 @@ private:
* map along with its size will determine what parts of the costmap's
* static map are overwritten.
*/
void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
// void reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level);
// dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig> *dsrv_;
};
} // namespace costmap_2d

540
plugins/inflation_layer.cpp
View File

@ -33,34 +33,48 @@ InflationLayer::InflationLayer()
inflation_access_ = new boost::recursive_mutex();
}
// void InflationLayer::onInitialize()
// {
// {
// boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
// ros::NodeHandle nh("~/" + name_), g_nh;
// current_ = true;
// if (seen_)
// delete[] seen_;
// seen_ = NULL;
// seen_size_ = 0;
// need_reinflation_ = false;
void InflationLayer::onInitialize()
{
{
boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
current_ = true;
if (seen_)
delete[] seen_;
seen_ = NULL;
seen_size_ = 0;
need_reinflation_ = false;
// dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig>::CallbackType cb =
// [this](auto& config, auto level){ reconfigureCB(config, level); };
getParams();
}
// if (dsrv_ != NULL){
// dsrv_->clearCallback();
// dsrv_->setCallback(cb);
// }
// else
// {
// dsrv_ = new dynamic_reconfigure::Server<costmap_2d::InflationPluginConfig>(ros::NodeHandle("~/" + name_));
// dsrv_->setCallback(cb);
// }
// }
matchSize();
}
// matchSize();
// }
bool InflationLayer::getParams()
{
try {
YAML::Node config = YAML::LoadFile("../cfg/config.yaml");
double cost_scaling_factor = config["inflation_layer"]["cost_scaling_factor"].as<double>();
double inflation_radius = config["inflation_layer"]["inflation_radius"].as<double>();
setInflationParameters(inflation_radius, cost_scaling_factor);
bool enabled = config["inflation_layer"]["enabled"].as<bool>();
bool inflate_unknown = config["inflation_layer"]["inflate_unknown"].as<bool>();
if (enabled_ != enabled || inflate_unknown_ != inflate_unknown) {
enabled_ = enabled;
inflate_unknown_ = inflate_unknown;
need_reinflation_ = true;
}
}
catch (const YAML::BadFile& e) {
std::cerr << "Cannot open YAML file: " << e.what() << std::endl;
return false;
}
return true;
}
// void InflationLayer::reconfigureCB(costmap_2d::InflationPluginConfig &config, uint32_t level)
// {
@ -73,276 +87,278 @@ InflationLayer::InflationLayer()
// }
// }
// void InflationLayer::matchSize()
// {
// boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
// costmap_2d::Costmap2D* costmap = layered_costmap_->getCostmap();
// resolution_ = costmap->getResolution();
// cell_inflation_radius_ = cellDistance(inflation_radius_);
// computeCaches();
void InflationLayer::matchSize()
{
boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
costmap_2d::Costmap2D* costmap = layered_costmap_->getCostmap();
resolution_ = costmap->getResolution();
cell_inflation_radius_ = cellDistance(inflation_radius_);
computeCaches();
// unsigned int size_x = costmap->getSizeInCellsX(), size_y = costmap->getSizeInCellsY();
// if (seen_)
// delete[] seen_;
// seen_size_ = size_x * size_y;
// seen_ = new bool[seen_size_];
// }
unsigned int size_x = costmap->getSizeInCellsX(), size_y = costmap->getSizeInCellsY();
if (seen_)
delete[] seen_;
seen_size_ = size_x * size_y;
seen_ = new bool[seen_size_];
}
// void InflationLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x,
// double* min_y, double* max_x, double* max_y)
// {
// if (need_reinflation_)
// {
// last_min_x_ = *min_x;
// last_min_y_ = *min_y;
// last_max_x_ = *max_x;
// last_max_y_ = *max_y;
// // For some reason when I make these -<double>::max() it does not
// // work with Costmap2D::worldToMapEnforceBounds(), so I'm using
// // -<float>::max() instead.
// *min_x = -std::numeric_limits<float>::max();
// *min_y = -std::numeric_limits<float>::max();
// *max_x = std::numeric_limits<float>::max();
// *max_y = std::numeric_limits<float>::max();
// need_reinflation_ = false;
// }
// else
// {
// double tmp_min_x = last_min_x_;
// double tmp_min_y = last_min_y_;
// double tmp_max_x = last_max_x_;
// double tmp_max_y = last_max_y_;
// last_min_x_ = *min_x;
// last_min_y_ = *min_y;
// last_max_x_ = *max_x;
// last_max_y_ = *max_y;
// *min_x = std::min(tmp_min_x, *min_x) - inflation_radius_;
// *min_y = std::min(tmp_min_y, *min_y) - inflation_radius_;
// *max_x = std::max(tmp_max_x, *max_x) + inflation_radius_;
// *max_y = std::max(tmp_max_y, *max_y) + inflation_radius_;
// }
// }
void InflationLayer::updateBounds(double robot_x, double robot_y, double robot_yaw, double* min_x,
double* min_y, double* max_x, double* max_y)
{
if (need_reinflation_)
{
last_min_x_ = *min_x;
last_min_y_ = *min_y;
last_max_x_ = *max_x;
last_max_y_ = *max_y;
// For some reason when I make these -<double>::max() it does not
// work with Costmap2D::worldToMapEnforceBounds(), so I'm using
// -<float>::max() instead.
*min_x = -std::numeric_limits<float>::max();
*min_y = -std::numeric_limits<float>::max();
*max_x = std::numeric_limits<float>::max();
*max_y = std::numeric_limits<float>::max();
need_reinflation_ = false;
}
else
{
double tmp_min_x = last_min_x_;
double tmp_min_y = last_min_y_;
double tmp_max_x = last_max_x_;
double tmp_max_y = last_max_y_;
last_min_x_ = *min_x;
last_min_y_ = *min_y;
last_max_x_ = *max_x;
last_max_y_ = *max_y;
*min_x = std::min(tmp_min_x, *min_x) - inflation_radius_;
*min_y = std::min(tmp_min_y, *min_y) - inflation_radius_;
*max_x = std::max(tmp_max_x, *max_x) + inflation_radius_;
*max_y = std::max(tmp_max_y, *max_y) + inflation_radius_;
}
}
// void InflationLayer::onFootprintChanged()
// {
// inscribed_radius_ = layered_costmap_->getInscribedRadius();
// cell_inflation_radius_ = cellDistance(inflation_radius_);
// computeCaches();
// need_reinflation_ = true;
void InflationLayer::onFootprintChanged()
{
inscribed_radius_ = layered_costmap_->getInscribedRadius();
cell_inflation_radius_ = cellDistance(inflation_radius_);
computeCaches();
need_reinflation_ = true;
// ROS_DEBUG("InflationLayer::onFootprintChanged(): num footprint points: %lu,"
// " inscribed_radius_ = %.3f, inflation_radius_ = %.3f",
// layered_costmap_->getFootprint().size(), inscribed_radius_, inflation_radius_);
// }
printf("InflationLayer::onFootprintChanged(): num footprint points: %lu,"
" inscribed_radius_ = %.3f, inflation_radius_ = %.3f",
layered_costmap_->getFootprint().size(), inscribed_radius_, inflation_radius_);
}
// void InflationLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
// {
// boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
// if (cell_inflation_radius_ == 0)
// return;
void InflationLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int min_j, int max_i, int max_j)
{
boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
if (cell_inflation_radius_ == 0)
return;
// // make sure the inflation list is empty at the beginning of the cycle (should always be true)
// ROS_ASSERT_MSG(inflation_cells_.empty(), "The inflation list must be empty at the beginning of inflation");
// make sure the inflation list is empty at the beginning of the cycle (should always be true)
if (!inflation_cells_.empty()) {
throw std::runtime_error("The inflation list must be empty at the beginning of inflation");
}
// unsigned char* master_array = master_grid.getCharMap();
// unsigned int size_x = master_grid.getSizeInCellsX(), size_y = master_grid.getSizeInCellsY();
unsigned char* master_array = master_grid.getCharMap();
unsigned int size_x = master_grid.getSizeInCellsX(), size_y = master_grid.getSizeInCellsY();
// if (seen_ == NULL) {
// ROS_WARN("InflationLayer::updateCosts(): seen_ array is NULL");
// seen_size_ = size_x * size_y;
// seen_ = new bool[seen_size_];
// }
// else if (seen_size_ != size_x * size_y)
// {
// ROS_WARN("InflationLayer::updateCosts(): seen_ array size is wrong");
// delete[] seen_;
// seen_size_ = size_x * size_y;
// seen_ = new bool[seen_size_];
// }
// memset(seen_, false, size_x * size_y * sizeof(bool));
if (seen_ == NULL) {
std::cerr <<"InflationLayer::updateCosts(): seen_ array is NULL" <<std::endl;
seen_size_ = size_x * size_y;
seen_ = new bool[seen_size_];
}
else if (seen_size_ != size_x * size_y)
{
std::cerr <<"InflationLayer::updateCosts(): seen_ array size is wrong" <<std::endl;
delete[] seen_;
seen_size_ = size_x * size_y;
seen_ = new bool[seen_size_];
}
memset(seen_, false, size_x * size_y * sizeof(bool));
// // We need to include in the inflation cells outside the bounding
// // box min_i...max_j, by the amount cell_inflation_radius_. Cells
// // up to that distance outside the box can still influence the costs
// // stored in cells inside the box.
// min_i -= cell_inflation_radius_;
// min_j -= cell_inflation_radius_;
// max_i += cell_inflation_radius_;
// max_j += cell_inflation_radius_;
// We need to include in the inflation cells outside the bounding
// box min_i...max_j, by the amount cell_inflation_radius_. Cells
// up to that distance outside the box can still influence the costs
// stored in cells inside the box.
min_i -= cell_inflation_radius_;
min_j -= cell_inflation_radius_;
max_i += cell_inflation_radius_;
max_j += cell_inflation_radius_;
// min_i = std::max(0, min_i);
// min_j = std::max(0, min_j);
// max_i = std::min(int(size_x), max_i);
// max_j = std::min(int(size_y), max_j);
min_i = std::max(0, min_i);
min_j = std::max(0, min_j);
max_i = std::min(int(size_x), max_i);
max_j = std::min(int(size_y), max_j);
// // Inflation list; we append cells to visit in a list associated with its distance to the nearest obstacle
// // We use a map<distance, list> to emulate the priority queue used before, with a notable performance boost
// Inflation list; we append cells to visit in a list associated with its distance to the nearest obstacle
// We use a map<distance, list> to emulate the priority queue used before, with a notable performance boost
// // Start with lethal obstacles: by definition distance is 0.0
// std::vector<CellData>& obs_bin = inflation_cells_[0.0];
// for (int j = min_j; j < max_j; j++)
// {
// for (int i = min_i; i < max_i; i++)
// {
// int index = master_grid.getIndex(i, j);
// unsigned char cost = master_array[index];
// if (cost == LETHAL_OBSTACLE)
// {
// obs_bin.push_back(CellData(index, i, j, i, j));
// }
// }
// }
// Start with lethal obstacles: by definition distance is 0.0
std::vector<CellData>& obs_bin = inflation_cells_[0.0];
for (int j = min_j; j < max_j; j++)
{
for (int i = min_i; i < max_i; i++)
{
int index = master_grid.getIndex(i, j);
unsigned char cost = master_array[index];
if (cost == LETHAL_OBSTACLE)
{
obs_bin.push_back(CellData(index, i, j, i, j));
}
}
}
// // Process cells by increasing distance; new cells are appended to the corresponding distance bin, so they
// // can overtake previously inserted but farther away cells
// std::map<double, std::vector<CellData> >::iterator bin;
// for (bin = inflation_cells_.begin(); bin != inflation_cells_.end(); ++bin)
// {
// for (int i = 0; i < bin->second.size(); ++i)
// {
// // process all cells at distance dist_bin.first
// const CellData& cell = bin->second[i];
// Process cells by increasing distance; new cells are appended to the corresponding distance bin, so they
// can overtake previously inserted but farther away cells
std::map<double, std::vector<CellData> >::iterator bin;
for (bin = inflation_cells_.begin(); bin != inflation_cells_.end(); ++bin)
{
for (int i = 0; i < bin->second.size(); ++i)
{
// process all cells at distance dist_bin.first
const CellData& cell = bin->second[i];
// unsigned int index = cell.index_;
unsigned int index = cell.index_;
// // ignore if already visited
// if (seen_[index])
// {
// continue;
// }
// ignore if already visited
if (seen_[index])
{
continue;
}
// seen_[index] = true;
seen_[index] = true;
// unsigned int mx = cell.x_;
// unsigned int my = cell.y_;
// unsigned int sx = cell.src_x_;
// unsigned int sy = cell.src_y_;
unsigned int mx = cell.x_;
unsigned int my = cell.y_;
unsigned int sx = cell.src_x_;
unsigned int sy = cell.src_y_;
// // assign the cost associated with the distance from an obstacle to the cell
// unsigned char cost = costLookup(mx, my, sx, sy);
// unsigned char old_cost = master_array[index];
// if (old_cost == NO_INFORMATION && (inflate_unknown_ ? (cost > FREE_SPACE) : (cost >= INSCRIBED_INFLATED_OBSTACLE)))
// master_array[index] = cost;
// else
// master_array[index] = std::max(old_cost, cost);
// assign the cost associated with the distance from an obstacle to the cell
unsigned char cost = costLookup(mx, my, sx, sy);
unsigned char old_cost = master_array[index];
if (old_cost == NO_INFORMATION && (inflate_unknown_ ? (cost > FREE_SPACE) : (cost >= INSCRIBED_INFLATED_OBSTACLE)))
master_array[index] = cost;
else
master_array[index] = std::max(old_cost, cost);
// // attempt to put the neighbors of the current cell onto the inflation list
// if (mx > 0)
// enqueue(index - 1, mx - 1, my, sx, sy);
// if (my > 0)
// enqueue(index - size_x, mx, my - 1, sx, sy);
// if (mx < size_x - 1)
// enqueue(index + 1, mx + 1, my, sx, sy);
// if (my < size_y - 1)
// enqueue(index + size_x, mx, my + 1, sx, sy);
// }
// }
// attempt to put the neighbors of the current cell onto the inflation list
if (mx > 0)
enqueue(index - 1, mx - 1, my, sx, sy);
if (my > 0)
enqueue(index - size_x, mx, my - 1, sx, sy);
if (mx < size_x - 1)
enqueue(index + 1, mx + 1, my, sx, sy);
if (my < size_y - 1)
enqueue(index + size_x, mx, my + 1, sx, sy);
}
}
// inflation_cells_.clear();
// }
inflation_cells_.clear();
}
// /**
// * @brief Given an index of a cell in the costmap, place it into a list pending for obstacle inflation
// * @param grid The costmap
// * @param index The index of the cell
// * @param mx The x coordinate of the cell (can be computed from the index, but saves time to store it)
// * @param my The y coordinate of the cell (can be computed from the index, but saves time to store it)
// * @param src_x The x index of the obstacle point inflation started at
// * @param src_y The y index of the obstacle point inflation started at
// */
// inline void InflationLayer::enqueue(unsigned int index, unsigned int mx, unsigned int my,
// unsigned int src_x, unsigned int src_y)
// {
// if (!seen_[index])
// {
// // we compute our distance table one cell further than the inflation radius dictates so we can make the check below
// double distance = distanceLookup(mx, my, src_x, src_y);
/**
* @brief Given an index of a cell in the costmap, place it into a list pending for obstacle inflation
* @param grid The costmap
* @param index The index of the cell
* @param mx The x coordinate of the cell (can be computed from the index, but saves time to store it)
* @param my The y coordinate of the cell (can be computed from the index, but saves time to store it)
* @param src_x The x index of the obstacle point inflation started at
* @param src_y The y index of the obstacle point inflation started at
*/
inline void InflationLayer::enqueue(unsigned int index, unsigned int mx, unsigned int my,
unsigned int src_x, unsigned int src_y)
{
if (!seen_[index])
{
// we compute our distance table one cell further than the inflation radius dictates so we can make the check below
double distance = distanceLookup(mx, my, src_x, src_y);
// // we only want to put the cell in the list if it is within the inflation radius of the obstacle point
// if (distance > cell_inflation_radius_)
// return;
// we only want to put the cell in the list if it is within the inflation radius of the obstacle point
if (distance > cell_inflation_radius_)
return;
// // push the cell data onto the inflation list and mark
// inflation_cells_[distance].push_back(CellData(index, mx, my, src_x, src_y));
// }
// }
// push the cell data onto the inflation list and mark
inflation_cells_[distance].push_back(CellData(index, mx, my, src_x, src_y));
}
}
// void InflationLayer::computeCaches()
// {
// if (cell_inflation_radius_ == 0)
// return;
void InflationLayer::computeCaches()
{
if (cell_inflation_radius_ == 0)
return;
// // based on the inflation radius... compute distance and cost caches
// if (cell_inflation_radius_ != cached_cell_inflation_radius_)
// {
// deleteKernels();
// based on the inflation radius... compute distance and cost caches
if (cell_inflation_radius_ != cached_cell_inflation_radius_)
{
deleteKernels();
// cached_costs_ = new unsigned char*[cell_inflation_radius_ + 2];
// cached_distances_ = new double*[cell_inflation_radius_ + 2];
cached_costs_ = new unsigned char*[cell_inflation_radius_ + 2];
cached_distances_ = new double*[cell_inflation_radius_ + 2];
// for (unsigned int i = 0; i <= cell_inflation_radius_ + 1; ++i)
// {
// cached_costs_[i] = new unsigned char[cell_inflation_radius_ + 2];
// cached_distances_[i] = new double[cell_inflation_radius_ + 2];
// for (unsigned int j = 0; j <= cell_inflation_radius_ + 1; ++j)
// {
// cached_distances_[i][j] = hypot(i, j);
// }
// }
for (unsigned int i = 0; i <= cell_inflation_radius_ + 1; ++i)
{
cached_costs_[i] = new unsigned char[cell_inflation_radius_ + 2];
cached_distances_[i] = new double[cell_inflation_radius_ + 2];
for (unsigned int j = 0; j <= cell_inflation_radius_ + 1; ++j)
{
cached_distances_[i][j] = hypot(i, j);
}
}
// cached_cell_inflation_radius_ = cell_inflation_radius_;
// }
cached_cell_inflation_radius_ = cell_inflation_radius_;
}
// for (unsigned int i = 0; i <= cell_inflation_radius_ + 1; ++i)
// {
// for (unsigned int j = 0; j <= cell_inflation_radius_ + 1; ++j)
// {
// cached_costs_[i][j] = computeCost(cached_distances_[i][j]);
// }
// }
// }
for (unsigned int i = 0; i <= cell_inflation_radius_ + 1; ++i)
{
for (unsigned int j = 0; j <= cell_inflation_radius_ + 1; ++j)
{
cached_costs_[i][j] = computeCost(cached_distances_[i][j]);
}
}
}
// void InflationLayer::deleteKernels()
// {
// if (cached_distances_ != NULL)
// {
// for (unsigned int i = 0; i <= cached_cell_inflation_radius_ + 1; ++i)
// {
// if (cached_distances_[i])
// delete[] cached_distances_[i];
// }
// if (cached_distances_)
// delete[] cached_distances_;
// cached_distances_ = NULL;
// }
void InflationLayer::deleteKernels()
{
if (cached_distances_ != NULL)
{
for (unsigned int i = 0; i <= cached_cell_inflation_radius_ + 1; ++i)
{
if (cached_distances_[i])
delete[] cached_distances_[i];
}
if (cached_distances_)
delete[] cached_distances_;
cached_distances_ = NULL;
}
// if (cached_costs_ != NULL)
// {
// for (unsigned int i = 0; i <= cached_cell_inflation_radius_ + 1; ++i)
// {
// if (cached_costs_[i])
// delete[] cached_costs_[i];
// }
// delete[] cached_costs_;
// cached_costs_ = NULL;
// }
// }
if (cached_costs_ != NULL)
{
for (unsigned int i = 0; i <= cached_cell_inflation_radius_ + 1; ++i)
{
if (cached_costs_[i])
delete[] cached_costs_[i];
}
delete[] cached_costs_;
cached_costs_ = NULL;
}
}
// void InflationLayer::setInflationParameters(double inflation_radius, double cost_scaling_factor)
// {
// if (weight_ != cost_scaling_factor || inflation_radius_ != inflation_radius)
// {
// // Lock here so that reconfiguring the inflation radius doesn't cause segfaults
// // when accessing the cached arrays
// boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
void InflationLayer::setInflationParameters(double inflation_radius, double cost_scaling_factor)
{
if (weight_ != cost_scaling_factor || inflation_radius_ != inflation_radius)
{
// Lock here so that reconfiguring the inflation radius doesn't cause segfaults
// when accessing the cached arrays
boost::unique_lock < boost::recursive_mutex > lock(*inflation_access_);
// inflation_radius_ = inflation_radius;
// cell_inflation_radius_ = cellDistance(inflation_radius_);
// weight_ = cost_scaling_factor;
// need_reinflation_ = true;
// computeCaches();
// }
// }
inflation_radius_ = inflation_radius;
cell_inflation_radius_ = cellDistance(inflation_radius_);
weight_ = cost_scaling_factor;
need_reinflation_ = true;
computeCaches();
}
}
// Export factory function
static PluginPtr create_inflation_plugin() {

1207
plugins/obstacle_layer.cpp
View File

File diff suppressed because it is too large Load Diff

257
plugins/static_layer.cpp
View File

@ -1,48 +1,10 @@
/*********************************************************************
*
* Software License Agreement (BSD License)
*
* Copyright (c) 2008, 2013, Willow Garage, Inc.
* Copyright (c) 2015, Fetch Robotics, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
* Author: Eitan Marder-Eppstein
* David V. Lu!!
*********************************************************************/
#include <costmap_2d/static_layer.h>
#include <costmap_2d/costmap_math.h>
#include <pluginlib/class_list_macros.hpp>
#include <tf2/convert.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
PLUGINLIB_EXPORT_CLASS(costmap_2d::StaticLayer, costmap_2d::Layer)
#include <tf2/utils.h>
// #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <boost/dll/alias.hpp>
using costmap_2d::NO_INFORMATION;
using costmap_2d::LETHAL_OBSTACLE;
@ -51,92 +13,78 @@ using costmap_2d::FREE_SPACE;
namespace costmap_2d
{
StaticLayer::StaticLayer() : dsrv_(NULL)
StaticLayer::StaticLayer()
{
threshold_ = &lethal_threshold_;
}
StaticLayer::~StaticLayer()
{
if (dsrv_)
delete dsrv_;
}
{}
void StaticLayer::onInitialize()
{
ros::NodeHandle nh("~/" + name_), g_nh;
// ros::NodeHandle nh("~/" + name_), g_nh;
current_ = true;
global_frame_ = layered_costmap_->getGlobalFrameID();
nh.param("map_topic", map_topic_, std::string("map"));
nh.param("first_map_only", first_map_only_, false);
nh.param("subscribe_to_updates", subscribe_to_updates_, false);
// nh.param("map_topic", map_topic_, std::string("map"));
// nh.param("first_map_only", first_map_only_, false);
// nh.param("subscribe_to_updates", subscribe_to_updates_, false);
nh.param("track_unknown_space", track_unknown_space_, true);
nh.param("use_maximum", use_maximum_, false);
// nh.param("track_unknown_space", track_unknown_space_, true);
// nh.param("use_maximum", use_maximum_, false);
int temp_lethal_threshold, temp_unknown_cost_value;
nh.param("lethal_cost_threshold", temp_lethal_threshold, int(100));
nh.param("unknown_cost_value", temp_unknown_cost_value, int(-1));
nh.param("trinary_costmap", trinary_costmap_, true);
nh.param("base_frame_id", base_frame_id_, std::string("base_footprint"));
// int temp_lethal_threshold, temp_unknown_cost_value;
// nh.param("lethal_cost_threshold", temp_lethal_threshold, int(100));
// nh.param("unknown_cost_value", temp_unknown_cost_value, int(-1));
// nh.param("trinary_costmap", trinary_costmap_, true);
// nh.param("base_frame_id", base_frame_id_, std::string("base_footprint"));
// ROS_WARN("global_frame_[%s] map_frame_[%s] map_topic[%s] first_map_only[%d] subscribe_to_updates[%d] track_unknown_space[%d] use_maximum[%d] \n lethal_cost_threshold[%d] unknown_cost_value[%d] trinary_costmap[%d]",
// global_frame_.c_str(), map_frame_.c_str(),map_topic_.c_str(), first_map_only_, subscribe_to_updates_, track_unknown_space_, use_maximum_, temp_lethal_threshold, temp_unknown_cost_value, trinary_costmap_);
lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);
unknown_cost_value_ = temp_unknown_cost_value;
// lethal_threshold_ = std::max(std::min(temp_lethal_threshold, 100), 0);
// unknown_cost_value_ = temp_unknown_cost_value;
// Only resubscribe if topic has changed
if (map_sub_.getTopic() != ros::names::resolve(map_topic_))
{
// we'll subscribe to the latched topic that the map server uses
ROS_INFO("Requesting the map...");
map_sub_ = g_nh.subscribe(map_topic_, 1, &StaticLayer::incomingMap, this);
map_received_ = false;
has_updated_data_ = false;
// if (map_sub_.getTopic() != ros::names::resolve(map_topic_))
// {
// // we'll subscribe to the latched topic that the map server uses
// printf("Requesting the map...");
// map_sub_ = g_nh.subscribe(map_topic_, 1, &StaticLayer::incomingMap, this);
// map_received_ = false;
// has_updated_data_ = false;
// ros::Rate r(10);
// while (!map_received_ && g_nh.ok())
// {
// ros::spinOnce();
// r.sleep();
// }
// printf("Received a %d X %d map at %f m/pix", getSizeInCellsX(), getSizeInCellsY(), getResolution());
// if (subscribe_to_updates_)
// {
// printf("Subscribing to updates");
// map_update_sub_ = g_nh.subscribe(map_topic_ + "_updates", 10, &StaticLayer::incomingUpdate, this);
// }
// }
// else
// {
// has_updated_data_ = true;
// }
ros::Rate r(10);
while (!map_received_ && g_nh.ok())
{
ros::spinOnce();
r.sleep();
}
ROS_INFO("Received a %d X %d map at %f m/pix", getSizeInCellsX(), getSizeInCellsY(), getResolution());
if (subscribe_to_updates_)
{
ROS_INFO("Subscribing to updates");
map_update_sub_ = g_nh.subscribe(map_topic_ + "_updates", 10, &StaticLayer::incomingUpdate, this);
}
}
else
{
has_updated_data_ = true;
}
if (dsrv_)
{
delete dsrv_;
}
dsrv_ = new dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>(nh);
dynamic_reconfigure::Server<costmap_2d::GenericPluginConfig>::CallbackType cb =
[this](auto& config, auto level){ reconfigureCB(config, level); };
dsrv_->setCallback(cb);
}
void StaticLayer::reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level)
{
if (config.enabled != enabled_)
{
enabled_ = config.enabled;
has_updated_data_ = true;
x_ = y_ = 0;
width_ = size_x_;
height_ = size_y_;
}
}
// void StaticLayer::reconfigureCB(costmap_2d::GenericPluginConfig &config, uint32_t level)
// {
// if (config.enabled != enabled_)
// {
// enabled_ = config.enabled;
// has_updated_data_ = true;
// x_ = y_ = 0;
// width_ = size_x_;
// height_ = size_y_;
// }
// }
void StaticLayer::matchSize()
{
@ -166,36 +114,36 @@ unsigned char StaticLayer::interpretValue(unsigned char value)
return scale * LETHAL_OBSTACLE;
}
void StaticLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map)
void StaticLayer::incomingMap(const nav_msgs::OccupancyGrid& new_map)
{
unsigned int size_x = new_map->info.width, size_y = new_map->info.height;
unsigned int size_x = new_map.info.width, size_y = new_map.info.height;
ROS_DEBUG("Received a %d X %d map at %f m/pix", size_x, size_y, new_map->info.resolution);
printf("Received a %d X %d map at %f m/pix", size_x, size_y, new_map.info.resolution);
// resize costmap if size, resolution or origin do not match
Costmap2D* master = layered_costmap_->getCostmap();
if (!layered_costmap_->isRolling() &&
(master->getSizeInCellsX() != size_x ||
master->getSizeInCellsY() != size_y ||
master->getResolution() != new_map->info.resolution ||
master->getOriginX() != new_map->info.origin.position.x ||
master->getOriginY() != new_map->info.origin.position.y))
master->getResolution() != new_map.info.resolution ||
master->getOriginX() != new_map.info.origin.position.x ||
master->getOriginY() != new_map.info.origin.position.y))
{
// Update the size of the layered costmap (and all layers, including this one)
ROS_INFO("Resizing costmap to %d X %d at %f m/pix", size_x, size_y, new_map->info.resolution);
layered_costmap_->resizeMap(size_x, size_y, new_map->info.resolution, new_map->info.origin.position.x,
new_map->info.origin.position.y,
printf("Resizing costmap to %d X %d at %f m/pix", size_x, size_y, new_map.info.resolution);
layered_costmap_->resizeMap(size_x, size_y, new_map.info.resolution, new_map.info.origin.position.x,
new_map.info.origin.position.y,
true /* set size_locked to true, prevents reconfigureCb from overriding map size*/);
}
else if (size_x_ != size_x || size_y_ != size_y ||
resolution_ != new_map->info.resolution ||
origin_x_ != new_map->info.origin.position.x ||
origin_y_ != new_map->info.origin.position.y)
resolution_ != new_map.info.resolution ||
origin_x_ != new_map.info.origin.position.x ||
origin_y_ != new_map.info.origin.position.y)
{
// only update the size of the costmap stored locally in this layer
ROS_INFO("Resizing static layer to %d X %d at %f m/pix", size_x, size_y, new_map->info.resolution);
resizeMap(size_x, size_y, new_map->info.resolution,
new_map->info.origin.position.x, new_map->info.origin.position.y);
printf("Resizing static layer to %d X %d at %f m/pix", size_x, size_y, new_map.info.resolution);
resizeMap(size_x, size_y, new_map.info.resolution,
new_map.info.origin.position.x, new_map.info.origin.position.y);
}
unsigned int index = 0;
@ -205,12 +153,12 @@ void StaticLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map)
{
for (unsigned int j = 0; j < size_x; ++j)
{
unsigned char value = new_map->data[index];
unsigned char value = new_map.data[index];
costmap_[index] = interpretValue(value);
++index;
}
}
map_frame_ = new_map->header.frame_id;
map_frame_ = new_map.header.frame_id;
// we have a new map, update full size of map
x_ = y_ = 0;
@ -222,27 +170,27 @@ void StaticLayer::incomingMap(const nav_msgs::OccupancyGridConstPtr& new_map)
// shutdown the map subscrber if firt_map_only_ flag is on
if (first_map_only_)
{
ROS_INFO("Shutting down the map subscriber. first_map_only flag is on");
map_sub_.shutdown();
printf("Shutting down the map subscriber. first_map_only flag is on");
// map_sub_.shutdown();
}
}
void StaticLayer::incomingUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update)
void StaticLayer::incomingUpdate(const map_msgs::OccupancyGridUpdate& update)
{
unsigned int di = 0;
for (unsigned int y = 0; y < update->height ; y++)
for (unsigned int y = 0; y < update.height ; y++)
{
unsigned int index_base = (update->y + y) * size_x_;
for (unsigned int x = 0; x < update->width ; x++)
unsigned int index_base = (update.y + y) * size_x_;
for (unsigned int x = 0; x < update.width ; x++)
{
unsigned int index = index_base + x + update->x;
costmap_[index] = interpretValue(update->data[di++]);
unsigned int index = index_base + x + update.x;
costmap_[index] = interpretValue(update.data[di++]);
}
}
x_ = update->x;
y_ = update->y;
width_ = update->width;
height_ = update->height;
x_ = update.x;
y_ = update.y;
width_ = update.width;
height_ = update.height;
has_updated_data_ = true;
}
@ -251,12 +199,12 @@ void StaticLayer::activate()
onInitialize();
}
void StaticLayer::deactivate()
{
map_sub_.shutdown();
if (subscribe_to_updates_)
map_update_sub_.shutdown();
}
// void StaticLayer::deactivate()
// {
// map_sub_.shutdown();
// if (subscribe_to_updates_)
// map_update_sub_.shutdown();
// }
void StaticLayer::reset()
{
@ -314,18 +262,23 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
double wx, wy;
// Might even be in a different frame
geometry_msgs::TransformStamped transform;
tf2::TransformStampedMsg transformMsg;
try
{
transform = tf_->lookupTransform(map_frame_, global_frame_, ros::Time(0));
// transformMsg = tf_->lookupTransform(map_frame_, global_frame_, ros::Time(0));
tf_->canTransform(map_frame_, global_frame_, tf2::Time());
tf_->lookupTransform(map_frame_,
global_frame_,
tf2::Time());
}
catch (tf2::TransformException ex)
{
ROS_ERROR("%s", ex.what());
printf("%s", ex.what());
return;
}
// Copy map data given proper transformations
tf2::Transform tf2_transform;
tf2::convert(transform.transform, tf2_transform);
// tf2::convert(transform.transform, tf2_transform);
for (unsigned int i = min_i; i < max_i; ++i)
{
for (unsigned int j = min_j; j < max_j; ++j)
@ -334,7 +287,7 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
layered_costmap_->getCostmap()->mapToWorld(i, j, wx, wy);
// Transform from global_frame_ to map_frame_
tf2::Vector3 p(wx, wy, 0);
p = tf2_transform*p;
// p = tf2_transform*p;
// Set master_grid with cell from map
if (worldToMap(p.x(), p.y(), mx, my))
{
@ -348,4 +301,12 @@ void StaticLayer::updateCosts(costmap_2d::Costmap2D& master_grid, int min_i, int
}
}
// Export factory function
static PluginPtr create_static_plugin() {
return std::make_shared<StaticLayer>();
}
// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
BOOST_DLL_ALIAS(create_static_plugin, create_plugin)
} // namespace costmap_2d

2
src/layer.cpp
View File

@ -11,7 +11,7 @@ Layer::Layer()
, tf_(NULL)
{}
void Layer::initialize(LayeredCostmap* parent, std::string name, std::shared_ptr<tf2::BufferCore> *tf)
void Layer::initialize(LayeredCostmap* parent, std::string name, tf2::BufferCore *tf)
{
layered_costmap_ = parent;
name_ = name;

1
src/observation_buffer.cpp
View File

@ -2,7 +2,6 @@
// #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
// #include <tf2_sensor_msgs/tf2_sensor_msgs.h>
// #include <sensor_msgs/point_cloud2_iterator.h>
#include<tf2/convert.h>
#include <sensor_msgs/point_cloud2_iterator.h>
#include <cstdint>