DuongTD/custom_planner
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HiepLM update

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HiepLM
2025-12-30 10:22:16 +07:00
parent d6512018ef
commit 60e9c5673f
3 changed files with 11 additions and 11 deletions
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8
include/custom_planner/custom_planner.h
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@@ -13,7 +13,7 @@ using namespace std;
#include <robot_visualization_msgs/Marker.h>
// Costmap used for the map representation
#include <costmap_2d/costmap_2d_robot.h>
#include <robot_costmap_2d/costmap_2d_robot.h>
// global representation
#include <nav_core/base_global_planner.h>
@@ -70,7 +70,7 @@ public:
* @param name The name of this planner
* @param costmap_ros A pointer to the ROS wrapper of the costmap to use
*/
CustomPlanner(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot);
CustomPlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot);
/**
@@ -79,7 +79,7 @@ public:
* @param costmap_ros A pointer to the ROS wrapper of the costmap to use
*/
virtual bool initialize(std::string name,
costmap_2d::Costmap2DROBOT* costmap_robot);
robot_costmap_2d::Costmap2DROBOT* costmap_robot);
virtual bool makePlan(const robot_protocol_msgs::Order& msg,
const robot_geometry_msgs::PoseStamped& start,
@@ -210,7 +210,7 @@ private:
bool allow_unknown_;
std::string name_;
costmap_2d::Costmap2DROBOT* costmap_robot_; /**< manages the cost map for us */
robot_costmap_2d::Costmap2DROBOT* costmap_robot_; /**< manages the cost map for us */
std::vector<robot_geometry_msgs::Point> footprint_;
unsigned int current_env_width_;
unsigned int current_env_height_;