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Hiep update

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HiepLM
2025-12-30 10:20:42 +07:00
parent 9c84e64253
commit b5a1b7b6d8
5 changed files with 15 additions and 15 deletions
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8
include/dock_planner/dock_calc.h
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@@ -8,9 +8,9 @@
#include <robot_nav_msgs/OccupancyGrid.h>
#include <robot_nav_msgs/GetPlan.h>
#include <costmap_2d/costmap_2d_robot.h>
#include <costmap_2d/costmap_2d.h>
#include <costmap_2d/inflation_layer.h>
#include <robot_costmap_2d/costmap_2d_robot.h>
#include <robot_costmap_2d/costmap_2d.h>
#include <robot_costmap_2d/inflation_layer.h>
#include <tf3/LinearMath/Quaternion.h>
@@ -120,7 +120,7 @@ namespace dock_planner
public:
//Params
costmap_2d::Costmap2D* costmap_;
robot_costmap_2d::Costmap2D* costmap_;
int cost_threshold_; // Threshold for obstacle detection
double safety_distance_; // Safety distance from obstacles

8
include/dock_planner/dock_planner.h
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@@ -11,9 +11,9 @@ namespace dock_planner {
{
public:
DockPlanner();
DockPlanner(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot);
DockPlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot);
bool initialize(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot);
bool initialize(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot);
bool makePlan(const robot_geometry_msgs::PoseStamped& start,
const robot_geometry_msgs::PoseStamped& goal,
@@ -21,8 +21,8 @@ namespace dock_planner {
private:
// Core components
costmap_2d::Costmap2DROBOT* costmap_robot_;
costmap_2d::Costmap2D* costmap_;
robot_costmap_2d::Costmap2DROBOT* costmap_robot_;
robot_costmap_2d::Costmap2D* costmap_;
bool initialized_;
std::string frame_id_;
// ros::Publisher plan_pub_;