Merge branch 'main' of https://git.pnkr.asia/DuongTD/costmap_2d into main

CMakeLists.txt

@@ -71,8 +71,7 @@ target_link_libraries(costmap_2d
     xmlrpcpp                  # XMLRPC
     yaml-cpp
     dl
-    robot::node_handle 
-    robot::console
+    robot_cpp 
 )
 
 # --- Include directories cho target ---
@@ -127,11 +126,9 @@ target_link_libraries(plugins
         ${Boost_LIBRARIES} 
         yaml-cpp
         robot_time
-        robot::node_handle 
-        robot::console
+        robot_cpp 
         )
 
-
 # --- 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, create_critical_layer)
+BOOST_DLL_ALIAS(create_critical_plugin, CriticalLayer)
 
 
 }

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, create_directional_layer)
+  BOOST_DLL_ALIAS(create_directional_plugin, DirectionalLayer)
 }

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, create_inflation_layer)
+BOOST_DLL_ALIAS(create_inflation_plugin, InflationLayer)
 
 }  // 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, create_obstacle_layer)
+BOOST_DLL_ALIAS(create_obstacle_plugin, ObstacleLayer)
 
 }  // 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, create_preferred_layer)
+BOOST_DLL_ALIAS(create_preferred_plugin, PreferredLayer)
 
 }

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, create_static_layer)
+BOOST_DLL_ALIAS(create_static_plugin, StaticLayer)
 
 }  // 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, create_unpreferred_layer)
+BOOST_DLL_ALIAS(create_unpreferred_plugin, UnPreferredLayer)
 
 }

plugins/voxel_layer.cpp

@@ -102,7 +102,7 @@ bool VoxelLayer::getParams(const std::string& config_file_name, robot::NodeHandl
     if (nh.hasParam("unknown_threshold"))
     {
       nh.getParam("unknown_threshold", unknown_threshold);
-      unknown_threshold_ = unknown_threshold;
+      unknown_threshold_ = unknown_threshold + (VOXEL_BITS - size_z_);
     }
     if (nh.hasParam("mark_threshold"))
     {
@@ -111,9 +111,6 @@ bool VoxelLayer::getParams(const std::string& config_file_name, robot::NodeHandl
     }
     if (nh.hasParam("combination_method"))
       nh.getParam("combination_method", combination_method_);
-
-    
-    
     
 
     this->matchSize();
@@ -491,6 +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, create_voxel_layer)
+BOOST_DLL_ALIAS(create_voxel_plugin, VoxelLayer)
 
 }  // 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)
       {
-        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());
+        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());
         return;
       }
     }