update for ROS
This commit is contained in:
parent
80bde38f4d
commit
f052dac142
408
CMakeLists.txt
408
CMakeLists.txt
|
|
@ -1,42 +1,60 @@
|
|||
# --- CMake version và project name ---
|
||||
cmake_minimum_required(VERSION 3.10)
|
||||
cmake_minimum_required(VERSION 3.0.2)
|
||||
project(robot_costmap_2d VERSION 1.0.0 LANGUAGES CXX)
|
||||
|
||||
# ========================================================
|
||||
# Dual-mode CMakeLists.txt: Supports both Catkin and Standalone CMake
|
||||
# ========================================================
|
||||
|
||||
# Detect if building with Catkin
|
||||
if(DEFINED CATKIN_DEVEL_PREFIX OR DEFINED CATKIN_TOPLEVEL)
|
||||
set(BUILDING_WITH_CATKIN TRUE)
|
||||
message(STATUS "Building robot_costmap_2d with Catkin")
|
||||
|
||||
else()
|
||||
set(BUILDING_WITH_CATKIN FALSE)
|
||||
message(STATUS "Building robot_costmap_2d with Standalone CMake")
|
||||
endif()
|
||||
|
||||
project(robot_costmap_2d)
|
||||
# C++ Standard - must be set before find_package
|
||||
set(CMAKE_CXX_STANDARD 17)
|
||||
set(CMAKE_CXX_STANDARD_REQUIRED ON)
|
||||
set(CMAKE_CXX_EXTENSIONS OFF)
|
||||
|
||||
# --- C++ standard và position independent code ---
|
||||
set(CMAKE_CXX_STANDARD 17) # Sử dụng C++17
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON) # Thư viện có thể build thành shared lib
|
||||
# Find dependencies
|
||||
find_package(Eigen3 REQUIRED)
|
||||
find_package(Boost REQUIRED COMPONENTS system thread filesystem)
|
||||
find_package(GTest REQUIRED)
|
||||
find_package(PCL REQUIRED COMPONENTS common io)
|
||||
find_package(yaml-cpp REQUIRED)
|
||||
|
||||
# --- RPATH settings: ưu tiên thư viện build tại chỗ ---
|
||||
# Dùng để runtime linker tìm thư viện đã build trước khi install
|
||||
set(CMAKE_SKIP_BUILD_RPATH FALSE)
|
||||
set(CMAKE_BUILD_WITH_INSTALL_RPATH FALSE)
|
||||
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}/robot_costmap_2d")
|
||||
set(CMAKE_INSTALL_RPATH "${CMAKE_BINARY_DIR}/robot_costmap_2d")
|
||||
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
|
||||
if (NOT BUILDING_WITH_CATKIN)
|
||||
|
||||
# --- Dependencies ---
|
||||
# Tìm các thư viện cần thiết
|
||||
# find_package(tf3 REQUIRED) # Nếu dùng tf3
|
||||
find_package(Eigen3 REQUIRED) # Thư viện Eigen cho toán học
|
||||
find_package(Boost REQUIRED COMPONENTS system thread filesystem) # Boost: system, thread, filesystem
|
||||
find_package(GTest REQUIRED) # Google Test cho unit test
|
||||
find_package(PCL REQUIRED COMPONENTS common io) # Point Cloud Library
|
||||
# Enable Position Independent Code
|
||||
set(CMAKE_POSITION_INDEPENDENT_CODE ON)
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
# Cấu hình RPATH để tránh cycle trong runtime search path
|
||||
set(CMAKE_BUILD_RPATH_USE_ORIGIN TRUE)
|
||||
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
|
||||
set(CMAKE_BUILD_RPATH "${CMAKE_BINARY_DIR}")
|
||||
|
||||
set(PACKAGES_DIR
|
||||
robot_std_msgs
|
||||
robot_sensor_msgs
|
||||
geometry_msgs
|
||||
robot_nav_msgs
|
||||
robot_map_msgs
|
||||
robot_laser_geometry
|
||||
robot_visualization_msgs
|
||||
robot_voxel_grid
|
||||
tf3
|
||||
robot_tf3_geometry_msgs
|
||||
robot_tf3_sensor_msgs
|
||||
data_convert
|
||||
robot_xmlrpcpp
|
||||
robot_cpp
|
||||
robot_time
|
||||
)
|
||||
|
||||
else()
|
||||
|
||||
# ========================================================
|
||||
# Catkin specific configuration
|
||||
# ========================================================
|
||||
find_package(catkin REQUIRED COMPONENTS
|
||||
robot_std_msgs
|
||||
robot_sensor_msgs
|
||||
|
|
@ -54,45 +72,35 @@ if(BUILDING_WITH_CATKIN)
|
|||
robot_cpp
|
||||
robot_time
|
||||
)
|
||||
endif()
|
||||
|
||||
# ========================================================
|
||||
# Catkin specific configuration
|
||||
# ========================================================
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
catkin_package(
|
||||
INCLUDE_DIRS include
|
||||
LIBRARIES robot_costmap_2d plugins
|
||||
CATKIN_DEPENDS robot_std_msgs robot_sensor_msgs geometry_msgs robot_nav_msgs robot_map_msgs robot_laser_geometry robot_visualization_msgs robot_voxel_grid tf3 robot_tf3_geometry_msgs robot_tf3_sensor_msgs data_convert robot_xmlrpcpp robot_cpp robot_time
|
||||
DEPENDS Eigen3 PCL
|
||||
DEPENDS PCL Boost
|
||||
)
|
||||
endif()
|
||||
|
||||
# --- Define macro để dùng trong code ---
|
||||
add_definitions(-DROBOT_COSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
|
||||
# --- Include directories ---
|
||||
# Thêm các folder chứa header files
|
||||
include_directories(
|
||||
include_directories(
|
||||
include
|
||||
${catkin_INCLUDE_DIRS}
|
||||
${EIGEN3_INCLUDE_DIRS}
|
||||
${Boost_INCLUDE_DIRS}
|
||||
${GTEST_INCLUDE_DIRS}
|
||||
${PCL_INCLUDE_DIRS}
|
||||
)
|
||||
link_directories(${PCL_LIBRARY_DIRS}) # Thêm thư viện PCL vào linker path
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
include_directories(${catkin_INCLUDE_DIRS})
|
||||
)
|
||||
link_directories(${PCL_LIBRARY_DIRS})
|
||||
endif()
|
||||
|
||||
# --- Eigen và PCL definitions ---
|
||||
# Define macro để dùng trong code
|
||||
add_definitions(-DROBOT_COSTMAP_2D_DIR="${CMAKE_CURRENT_SOURCE_DIR}")
|
||||
|
||||
# Eigen và PCL definitions
|
||||
add_definitions(${EIGEN3_DEFINITIONS} ${PCL_DEFINITIONS})
|
||||
|
||||
# --- Core library: robot_costmap_2d ---
|
||||
# Tạo thư viện chính
|
||||
add_library(robot_costmap_2d
|
||||
# ========================================================
|
||||
# Core library: robot_costmap_2d
|
||||
# ========================================================
|
||||
add_library(robot_costmap_2d SHARED
|
||||
src/costmap_2d_robot.cpp
|
||||
src/array_parser.cpp
|
||||
src/costmap_2d.cpp
|
||||
|
|
@ -104,84 +112,59 @@ add_library(robot_costmap_2d
|
|||
src/costmap_layer.cpp
|
||||
)
|
||||
|
||||
# --- Link các thư viện phụ thuộc ---
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
target_link_libraries(robot_costmap_2d
|
||||
${catkin_LIBRARIES}
|
||||
${Boost_LIBRARIES} # Boost
|
||||
yaml-cpp
|
||||
dl
|
||||
${PCL_LIBRARIES}
|
||||
)
|
||||
else()
|
||||
# Standalone mode: link dependencies with PUBLIC visibility to propagate include paths
|
||||
target_link_libraries(robot_costmap_2d
|
||||
PUBLIC
|
||||
robot_std_msgs
|
||||
robot_sensor_msgs
|
||||
geometry_msgs
|
||||
robot_nav_msgs
|
||||
robot_map_msgs
|
||||
robot_laser_geometry
|
||||
robot_visualization_msgs
|
||||
robot_voxel_grid
|
||||
tf3
|
||||
robot_tf3_geometry_msgs
|
||||
robot_tf3_sensor_msgs
|
||||
data_convert
|
||||
robot_xmlrpcpp # XMLRPC
|
||||
robot_cpp
|
||||
PRIVATE
|
||||
${Boost_LIBRARIES} # Boost
|
||||
yaml-cpp
|
||||
dl
|
||||
${PCL_LIBRARIES}
|
||||
)
|
||||
endif()
|
||||
|
||||
# --- Include directories cho target ---
|
||||
target_include_directories(robot_costmap_2d
|
||||
PUBLIC
|
||||
${Boost_INCLUDE_DIRS} # Boost headers
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include> # Khi build từ source
|
||||
$<INSTALL_INTERFACE:include/${PROJECT_NAME}> # Khi install
|
||||
)
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
add_dependencies(robot_costmap_2d ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
endif()
|
||||
|
||||
# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
|
||||
install(TARGETS robot_costmap_2d
|
||||
EXPORT robot_costmap_2d-targets
|
||||
ARCHIVE DESTINATION lib # Thư viện tĩnh .a
|
||||
LIBRARY DESTINATION lib # Thư viện động .so
|
||||
RUNTIME DESTINATION bin # File thực thi (nếu có)
|
||||
INCLUDES DESTINATION include # Cài đặt include
|
||||
)
|
||||
|
||||
# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
|
||||
# --- Tạo file lib/cmake/robot_costmap_2d/robot_costmap_2dTargets.cmake ---
|
||||
# --- File này chứa cấu hình giúp project khác có thể dùng ---
|
||||
# --- Find_package(robot_costmap_2d REQUIRED) ---
|
||||
# --- Target_link_libraries(my_app PRIVATE robot_costmap_2d::robot_costmap_2d) ---
|
||||
install(EXPORT robot_costmap_2d-targets
|
||||
FILE robot_costmap_2d-targets.cmake
|
||||
NAMESPACE robot_costmap_2d::
|
||||
DESTINATION lib/cmake/robot_costmap_2d
|
||||
)
|
||||
|
||||
# --- Cài đặt headers ---
|
||||
if(NOT BUILDING_WITH_CATKIN)
|
||||
install(DIRECTORY include/${PROJECT_NAME}/
|
||||
DESTINATION include/${PROJECT_NAME}
|
||||
target_include_directories(robot_costmap_2d
|
||||
PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||
$<INSTALL_INTERFACE:include>
|
||||
${EIGEN3_INCLUDE_DIRS}
|
||||
${Boost_INCLUDE_DIRS}
|
||||
${PCL_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
target_link_libraries(robot_costmap_2d
|
||||
PUBLIC ${catkin_LIBRARIES}
|
||||
PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
|
||||
PRIVATE yaml-cpp
|
||||
PRIVATE dl
|
||||
PRIVATE ${PCL_LIBRARIES}
|
||||
)
|
||||
|
||||
else()
|
||||
|
||||
target_include_directories(robot_costmap_2d
|
||||
PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||
$<INSTALL_INTERFACE:include>
|
||||
${EIGEN3_INCLUDE_DIRS}
|
||||
${Boost_INCLUDE_DIRS}
|
||||
${PCL_INCLUDE_DIRS}
|
||||
)
|
||||
|
||||
target_link_libraries(robot_costmap_2d
|
||||
PUBLIC
|
||||
${PACKAGES_DIR}
|
||||
PRIVATE
|
||||
Boost::boost Boost::system Boost::thread Boost::filesystem
|
||||
yaml-cpp
|
||||
dl
|
||||
${PCL_LIBRARIES}
|
||||
)
|
||||
|
||||
set_target_properties(robot_costmap_2d PROPERTIES
|
||||
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
|
||||
BUILD_RPATH "${CMAKE_BINARY_DIR}"
|
||||
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
|
||||
)
|
||||
|
||||
endif()
|
||||
|
||||
# --- Plugin libraries ---
|
||||
# Tạo các plugin shared library
|
||||
add_library(plugins
|
||||
SHARED
|
||||
# ========================================================
|
||||
# Plugin library: plugins
|
||||
# ========================================================
|
||||
add_library(plugins SHARED
|
||||
plugins/static_layer.cpp
|
||||
plugins/obstacle_layer.cpp
|
||||
plugins/inflation_layer.cpp
|
||||
|
|
@ -190,93 +173,138 @@ add_library(plugins
|
|||
plugins/directional_layer.cpp
|
||||
plugins/preferred_layer.cpp
|
||||
plugins/unpreferred_layer.cpp
|
||||
)
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
target_link_libraries(plugins
|
||||
PRIVATE
|
||||
robot_costmap_2d
|
||||
${catkin_LIBRARIES}
|
||||
${Boost_LIBRARIES}
|
||||
yaml-cpp
|
||||
)
|
||||
else()
|
||||
# In standalone mode, robot_costmap_2d already has PUBLIC links to all dependencies
|
||||
# so we just need to link it with PUBLIC visibility to get the include paths
|
||||
target_link_libraries(plugins
|
||||
PUBLIC
|
||||
robot_costmap_2d
|
||||
PRIVATE
|
||||
${Boost_LIBRARIES}
|
||||
yaml-cpp
|
||||
robot_time
|
||||
robot_cpp
|
||||
)
|
||||
endif()
|
||||
|
||||
set_target_properties(plugins PROPERTIES
|
||||
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
|
||||
)
|
||||
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
add_dependencies(plugins ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
|
||||
|
||||
target_include_directories(plugins
|
||||
PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||
$<INSTALL_INTERFACE:include>
|
||||
)
|
||||
|
||||
target_link_libraries(plugins
|
||||
PUBLIC robot_costmap_2d
|
||||
PRIVATE ${catkin_LIBRARIES}
|
||||
PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
|
||||
PRIVATE yaml-cpp
|
||||
)
|
||||
|
||||
else()
|
||||
|
||||
target_include_directories(plugins
|
||||
PUBLIC
|
||||
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
|
||||
$<INSTALL_INTERFACE:include>
|
||||
)
|
||||
|
||||
target_link_libraries(plugins
|
||||
PUBLIC robot_costmap_2d
|
||||
PRIVATE Boost::boost Boost::system Boost::thread Boost::filesystem
|
||||
PRIVATE yaml-cpp
|
||||
PRIVATE robot_time
|
||||
PRIVATE robot_cpp
|
||||
)
|
||||
|
||||
set_target_properties(plugins PROPERTIES
|
||||
LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}
|
||||
BUILD_RPATH "${CMAKE_BINARY_DIR}"
|
||||
INSTALL_RPATH "${CMAKE_INSTALL_PREFIX}/lib"
|
||||
)
|
||||
|
||||
endif()
|
||||
|
||||
install(TARGETS plugins
|
||||
EXPORT plugins-targets
|
||||
ARCHIVE DESTINATION lib # Thư viện tĩnh .a
|
||||
LIBRARY DESTINATION lib # Thư viện động .so
|
||||
RUNTIME DESTINATION bin # File thực thi (nếu có)
|
||||
INCLUDES DESTINATION include # Cài đặt include
|
||||
)
|
||||
# ========================================================
|
||||
# Install
|
||||
# ========================================================
|
||||
if(BUILDING_WITH_CATKIN)
|
||||
## Mark libraries for installation
|
||||
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
|
||||
install(TARGETS robot_costmap_2d plugins
|
||||
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
|
||||
RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
|
||||
)
|
||||
|
||||
install(EXPORT plugins-targets
|
||||
FILE plugins-targets.cmake
|
||||
NAMESPACE robot_costmap_2d::
|
||||
DESTINATION lib/cmake/plugins
|
||||
)
|
||||
## Mark cpp header files for installation
|
||||
install(DIRECTORY include/${PROJECT_NAME}/
|
||||
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
|
||||
FILES_MATCHING PATTERN "*.h"
|
||||
PATTERN ".svn" EXCLUDE
|
||||
)
|
||||
|
||||
else()
|
||||
|
||||
# --- Option để bật/tắt test ---
|
||||
install(TARGETS robot_costmap_2d plugins
|
||||
EXPORT ${PROJECT_NAME}-targets
|
||||
ARCHIVE DESTINATION lib
|
||||
LIBRARY DESTINATION lib
|
||||
RUNTIME DESTINATION bin
|
||||
)
|
||||
|
||||
# Export targets
|
||||
install(EXPORT ${PROJECT_NAME}-targets
|
||||
FILE ${PROJECT_NAME}-targets.cmake
|
||||
NAMESPACE ${PROJECT_NAME}::
|
||||
DESTINATION lib/cmake/${PROJECT_NAME}
|
||||
)
|
||||
|
||||
## Mark cpp header files for installation
|
||||
install(DIRECTORY include/${PROJECT_NAME}/
|
||||
DESTINATION include
|
||||
FILES_MATCHING PATTERN "*.h"
|
||||
PATTERN ".svn" EXCLUDE
|
||||
)
|
||||
|
||||
# Print configuration info
|
||||
message(STATUS "=================================")
|
||||
message(STATUS "Project: ${PROJECT_NAME}")
|
||||
message(STATUS "Version: ${PROJECT_VERSION}")
|
||||
message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
|
||||
message(STATUS "Libraries: robot_costmap_2d, plugins")
|
||||
message(STATUS "Dependencies: robot_std_msgs, robot_sensor_msgs, geometry_msgs, robot_nav_msgs, robot_map_msgs, robot_laser_geometry, robot_visualization_msgs, robot_voxel_grid, tf3, robot_tf3_geometry_msgs, robot_tf3_sensor_msgs, data_convert, robot_xmlrpcpp, robot_cpp, robot_time, Eigen3, PCL, Boost, yaml-cpp")
|
||||
message(STATUS "=================================")
|
||||
endif()
|
||||
|
||||
# ========================================================
|
||||
# Test executables
|
||||
# ========================================================
|
||||
option(BUILD_COSTMAP_TESTS "Build robot_costmap_2d test executables" ON)
|
||||
|
||||
if(BUILD_COSTMAP_TESTS)
|
||||
# --- Test executables ---
|
||||
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/array_parser_test.cpp)
|
||||
add_executable(test_array_parser test/array_parser_test.cpp)
|
||||
target_link_libraries(test_array_parser PRIVATE
|
||||
robot_costmap_2d
|
||||
GTest::GTest
|
||||
GTest::Main
|
||||
Threads::Threads
|
||||
)
|
||||
endif()
|
||||
|
||||
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/coordinates_test.cpp)
|
||||
add_executable(test_costmap test/coordinates_test.cpp)
|
||||
target_link_libraries(test_costmap PRIVATE
|
||||
robot_costmap_2d
|
||||
GTest::GTest
|
||||
GTest::Main
|
||||
Threads::Threads
|
||||
)
|
||||
endif()
|
||||
|
||||
if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/static_layer_test.cpp)
|
||||
add_executable(test_plugin test/static_layer_test.cpp)
|
||||
|
||||
# --- Link thư viện cho test ---
|
||||
target_link_libraries(test_array_parser PRIVATE robot_costmap_2d GTest::GTest GTest::Main pthread)
|
||||
target_link_libraries(test_costmap PRIVATE robot_costmap_2d GTest::GTest GTest::Main pthread)
|
||||
target_link_libraries(test_plugin PRIVATE
|
||||
|
||||
${Boost_LIBRARIES}
|
||||
Boost::filesystem
|
||||
Boost::system
|
||||
dl
|
||||
pthread
|
||||
robot_costmap_2d
|
||||
Boost::boost Boost::filesystem Boost::system
|
||||
yaml-cpp
|
||||
dl
|
||||
Threads::Threads
|
||||
tf3
|
||||
robot_time
|
||||
robot_costmap_2d
|
||||
GTest::GTest GTest::Main
|
||||
)
|
||||
|
||||
# --- Set RPATH để tìm thư viện của project này thay vì system ROS libraries ---
|
||||
set_target_properties(test_array_parser PROPERTIES
|
||||
BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
|
||||
INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
|
||||
LINK_FLAGS "-Wl,--disable-new-dtags"
|
||||
)
|
||||
set_target_properties(test_costmap PROPERTIES
|
||||
BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
|
||||
INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
|
||||
LINK_FLAGS "-Wl,--disable-new-dtags"
|
||||
)
|
||||
set_target_properties(test_plugin PROPERTIES
|
||||
BUILD_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d:${CMAKE_BINARY_DIR}/src/Libraries/robot_time:${CMAKE_BINARY_DIR}/src/Libraries/tf3"
|
||||
INSTALL_RPATH "${CMAKE_BINARY_DIR}/src/Libraries/robot_costmap_2d"
|
||||
LINK_FLAGS "-Wl,--disable-new-dtags"
|
||||
GTest::GTest
|
||||
GTest::Main
|
||||
)
|
||||
endif()
|
||||
endif()
|
||||
|
|
@ -128,7 +128,6 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name, robot::NodeH
|
|||
|
||||
robot::PluginLoaderHelper loader;
|
||||
|
||||
|
||||
if (nh.hasParam("rolling_window"))
|
||||
nh.getParam("rolling_window", rolling_window);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue
Block a user