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HiepLM 2025-12-29 17:42:32 +07:00
parent a28f05c6d5
commit ed54b7b8db
4 changed files with 40 additions and 14 deletions
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10
include/costmap_2d/costmap_2d_robot.h
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@ -55,18 +55,18 @@
#include <robot/node_handle.h>
#include <robot/plugin_loader_helper.h>
class SuperValue : public XmlRpc::XmlRpcValue
class SuperValue : public robot::XmlRpc::XmlRpcValue
{
public:
void setStruct(XmlRpc::XmlRpcValue::ValueStruct* a)
void setStruct(robot::XmlRpc::XmlRpcValue::ValueStruct* a)
{
_type = TypeStruct;
_value.asStruct = new XmlRpc::XmlRpcValue::ValueStruct(*a);
_value.asStruct = new robot::XmlRpc::XmlRpcValue::ValueStruct(*a);
}
void setArray(XmlRpc::XmlRpcValue::ValueArray* a)
void setArray(robot::XmlRpc::XmlRpcValue::ValueArray* a)
{
_type = TypeArray;
_value.asArray = new std::vector<XmlRpc::XmlRpcValue>(*a);
_value.asArray = new std::vector<robot::XmlRpc::XmlRpcValue>(*a);
}
};

2
include/costmap_2d/footprint.h
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@ -136,7 +136,7 @@ std::vector<geometry_msgs::Point> makeFootprintFromParams(robot::NodeHandle& nh)
* @param full_param_name this is the full name of the rosparam from
* which the footprint_xmlrpc value came. It is used only for
* reporting errors. */
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);
// /** @brief Write the current unpadded_footprint_ to the "footprint"

26
package.xml Normal file
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@ -0,0 +1,26 @@
<package>
<name>costmap_2d</name>
<version>0.7.10</version>
<description>
tf3 is the second generation of the transform library, which lets
the user keep track of multiple coordinate frames over time. tf3
maintains the relationship between coordinate frames in a tree
structure buffered in time, and lets the user transform points,
vectors, etc between any two coordinate frames at any desired
point in time.
</description>
<author>Tully Foote</author>
<author>Eitan Marder-Eppstein</author>
<author>Wim Meeussen</author>
<maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
<license>BSD</license>
<url type="website">http://www.ros.org/wiki/tf3</url>
<buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
<build_depend>libconsole-bridge-dev</build_depend>
<run_depend>libconsole-bridge-dev</run_depend>
</package>

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: "