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

Hiep sua file

Browse Source
This commit is contained in:
HiepLM
2025-12-29 17:42:32 +07:00
parent a28f05c6d5
commit ed54b7b8db
4 changed files with 40 additions and 14 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
src/footprint.cpp
View File

@@ -249,25 +249,25 @@ std::vector<geometry_msgs::Point> makeFootprintFromParams(robot::NodeHandle& nh)
// nh.setParam("footprint", oss.str().c_str());
// }
double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value, const std::string& full_param_name)
double getNumberFromXMLRPC(robot::XmlRpc::XmlRpcValue& value, const std::string& full_param_name)
{
// Make sure that the value we're looking at is either a double or an int.
if (value.getType() != XmlRpc::XmlRpcValue::TypeInt &&
value.getType() != XmlRpc::XmlRpcValue::TypeDouble)
if (value.getType() != robot::XmlRpc::XmlRpcValue::TypeInt &&
value.getType() != robot::XmlRpc::XmlRpcValue::TypeDouble)
{
std::string& value_string = value;
printf("Values in the footprint specification (param %s) must be numbers. Found value %s.\n",
full_param_name.c_str(), value_string.c_str());
throw std::runtime_error("Values in the footprint specification must be numbers");
}
return value.getType() == XmlRpc::XmlRpcValue::TypeInt ? (int)(value) : (double)(value);
return value.getType() == robot::XmlRpc::XmlRpcValue::TypeInt ? (int)(value) : (double)(value);
}
std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc,
std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(robot::XmlRpc::XmlRpcValue& footprint_xmlrpc,
const std::string& full_param_name)
{
// Make sure we have an array of at least 3 elements.
if (footprint_xmlrpc.getType() != XmlRpc::XmlRpcValue::TypeArray ||
if (footprint_xmlrpc.getType() != robot::XmlRpc::XmlRpcValue::TypeArray ||
footprint_xmlrpc.size() < 3)
{
printf("The footprint must be specified as list of lists on the parameter server, %s was specified as %s\n",
@@ -282,8 +282,8 @@ std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& f
for (int i = 0; i < footprint_xmlrpc.size(); ++i)
{
// Make sure each element of the list is an array of size 2. (x and y coordinates)
XmlRpc::XmlRpcValue point = footprint_xmlrpc[ i ];
if (point.getType() != XmlRpc::XmlRpcValue::TypeArray ||
robot::XmlRpc::XmlRpcValue point = footprint_xmlrpc[ i ];
if (point.getType() != robot::XmlRpc::XmlRpcValue::TypeArray ||
point.size() != 2)
{
printf("The footprint (parameter %s) must be specified as list of lists on the parameter server eg: "