CMakeLists.txt

@@ -71,7 +71,8 @@ target_link_libraries(costmap_2d
     xmlrpcpp                  # XMLRPC
     yaml-cpp
     dl
-    robot_cpp 
+    robot::node_handle 
+    robot::console
 )
 
 # --- Include directories cho target ---
@@ -126,9 +127,11 @@ target_link_libraries(plugins
         ${Boost_LIBRARIES} 
         yaml-cpp
         robot_time
-        robot_cpp 
+        robot::node_handle 
+        robot::console
         )
 
+
 # --- Option để bật/tắt test ---
 option(BUILD_COSTMAP_TESTS "Build costmap_2d test executables" ON)
 

plugins/critical_layer.cpp

@@ -41,7 +41,7 @@ static boost::shared_ptr<Layer> create_critical_plugin() {
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_critical_plugin, CriticalLayer)
+BOOST_DLL_ALIAS(create_critical_plugin, create_critical_layer)
 
 
 }

plugins/directional_layer.cpp

@@ -433,5 +433,5 @@ namespace costmap_2d
   }
 
   // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-  BOOST_DLL_ALIAS(create_directional_plugin, DirectionalLayer)
+  BOOST_DLL_ALIAS(create_directional_plugin, create_directional_layer)
 }

plugins/inflation_layer.cpp

@@ -414,6 +414,6 @@ static boost::shared_ptr<Layer> create_inflation_plugin() {
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_inflation_plugin, InflationLayer)
+BOOST_DLL_ALIAS(create_inflation_plugin, create_inflation_layer)
 
 }  // namespace costmap_2d

plugins/obstacle_layer.cpp

@@ -595,6 +595,6 @@ static boost::shared_ptr<Layer> create_obstacle_plugin() {
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_obstacle_plugin, ObstacleLayer)
+BOOST_DLL_ALIAS(create_obstacle_plugin, create_obstacle_layer)
 
 }  // namespace costmap_2d

plugins/preferred_layer.cpp

@@ -30,6 +30,6 @@ static boost::shared_ptr<Layer> create_preferred_plugin() {
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_preferred_plugin, PreferredLayer)
+BOOST_DLL_ALIAS(create_preferred_plugin, create_preferred_layer)
 
 }

plugins/static_layer.cpp

@@ -387,6 +387,6 @@ static boost::shared_ptr<Layer> create_static_plugin() {
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_static_plugin, StaticLayer)
+BOOST_DLL_ALIAS(create_static_plugin, create_static_layer)
 
 }  // namespace costmap_2d

plugins/unpreferred_layer.cpp

@@ -28,6 +28,6 @@ static boost::shared_ptr<Layer> create_unpreferred_plugin() {
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_unpreferred_plugin, UnPreferredLayer)
+BOOST_DLL_ALIAS(create_unpreferred_plugin, create_unpreferred_layer)
 
 }

plugins/voxel_layer.cpp

@@ -488,6 +488,6 @@ static boost::shared_ptr<Layer> create_voxel_plugin() {
 }
 
 // Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
-BOOST_DLL_ALIAS(create_voxel_plugin, VoxelLayer)
+BOOST_DLL_ALIAS(create_voxel_plugin, create_voxel_layer)
 
 }  // namespace costmap_2d

src/costmap_2d_robot.cpp

@@ -219,7 +219,7 @@ void Costmap2DROBOT::getParams(const std::string& config_file_name, robot::NodeH
       }
       catch (std::exception &ex)
       {
-        robot::log_error("Failed to create the %s, are you sure it is properly registered and that the containing library is built? Exception: %s\n", info.name.c_str(), ex.what());
+        printf("Failed to create the %s, are you sure it is properly registered and that the containing library is built? Exception: %s\n", info.name.c_str(), ex.what());
         return;
       }
     }