54 lines
1.9 KiB
C++
54 lines
1.9 KiB
C++
#include <boost/dll/import.hpp>
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#include <iostream>
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#include <costmap_2d/costmap_layer.h>
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#include <costmap_2d/layered_costmap.h>
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#include <tf2/buffer_core.h>
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#include <tf2/time.h>
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#include "nav_msgs/OccupancyGrid.h"
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using namespace costmap_2d;
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int main(int argc, char* argv[]) {
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// Fix 1: Use correct path to the library
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auto creator = boost::dll::import_alias<costmap_2d::PluginCostmapLayerPtr()>(
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"./costmap_2d/liblayers.so", "create_plugin", boost::dll::load_mode::append_decorations
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);
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costmap_2d::PluginCostmapLayerPtr plugin = creator();
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std::cout << "Plugin created successfully" << std::endl;
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// Fix 2: Initialize the plugin before calling activate()
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// activate() calls onInitialize() which requires layered_costmap_ to be set
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std::string global_frame = "map";
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bool rolling_window = false;
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bool track_unknown = true;
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LayeredCostmap layered_costmap(global_frame, rolling_window, track_unknown);
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// Fix 3: tf2::BufferCore constructor requires ros::Duration parameter (not tf2::Duration)
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tf2::BufferCore tf_buffer;
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// tf2::Duration cache_time(10.0); // 10 seconds cache time
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// tf2::BufferCore tf_buffer(cache_time);
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// Initialize the layer with required parameters
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plugin->initialize(&layered_costmap, "static_layer", &tf_buffer);
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std::cout << "Plugin initialized" << std::endl;
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// Now it's safe to call activate()
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// plugin->activate();
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nav_msgs::OccupancyGrid grid;
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grid.info.resolution = 0.05f;
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grid.info.width = 2;
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grid.info.height = 2;
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grid.data.resize(grid.info.width * grid.info.height, -1);
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grid.data[0] = 0; // Free cell
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grid.data[1] = 100; // Occupied cell
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grid.data[2] = 10; // Occupied cell
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grid.data[3] = 0; // Free cell
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plugin->incomingMap(grid);
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std::cout << "Plugin activated successfully" << std::endl;
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}
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