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

fix file utils

Browse Source
This commit is contained in:
duongtd
2025-12-08 11:03:49 +07:00
parent af43332b28
commit d37daab594
4 changed files with 9 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/costmap_2d_robot.cpp
View File

@@ -82,7 +82,6 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
std::string folder = COSTMAP_2D_DIR;
std::string path_source = getSourceFile(folder,config_file_name);
YAML::Node config = YAML::LoadFile(path_source);
YAML::Node layer = config["costmap_2d"];
@@ -97,7 +96,8 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name)
{
if (last_error + robot::Duration(5.0) < robot::Time::now())
{
printf("%f: Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s\n",
// std::cout << std::fixed << std::setprecision(6) << robot::Time::now().toSec() << std::endl;
printf("%0.6f: Timed out waiting for transform from %s to %s to become available before running costmap, tf error: %s\n",
robot::Time::now().toSec(), robot_base_frame_.c_str(), global_frame_.c_str(), tf_error.c_str());
last_error = robot::Time::now();
}
@@ -274,7 +274,7 @@ void Costmap2DROBOT::mapUpdateLoop(double frequency)
while (!map_update_thread_shutdown_)
{
updateMap();
std::cout << "Costmap2DROBOT::mapUpdateLoop updateMap\n";
std::cout << robot::Time::now().toNSec()<< " :Costmap2DROBOT::mapUpdateLoop updateMap\n";
r.sleep();
// make sure to sleep for the remainder of our cycle time
if (r.cycleTime() > robot::Duration(1 / frequency))