DuongTD/dock_planner
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Hiep update

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This commit is contained in:
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
CMakeLists.txt
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@ -47,10 +47,10 @@ target_link_libraries(dock_planner
robot_visualization_msgs robot_visualization_msgs
robot_nav_msgs robot_nav_msgs
tf3 tf3
tf3_geometry_msgs robot_tf3_geometry_msgs
robot_time robot_time
data_convert data_convert
costmap_2d robot_costmap_2d
nav_core nav_core
robot_cpp robot_cpp
robot_nav_2d_utils robot_nav_2d_utils
@ -73,8 +73,8 @@ install(TARGETS dock_planner
INCLUDES DESTINATION include # Cài đặt include INCLUDES DESTINATION include # Cài đặt include
) )
# --- Xuất export set costmap_2dTargets thành file CMake module --- # --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
# --- Tạo file lib/cmake/dock_planner/costmap_2dTargets.cmake --- # --- Tạo file lib/cmake/dock_planner/robot_costmap_2dTargets.cmake ---
# --- File này chứa cấu hình giúp project khác có thể dùng --- # --- File này chứa cấu hình giúp project khác có thể dùng ---
# --- Find_package(dock_planner REQUIRED) --- # --- Find_package(dock_planner REQUIRED) ---
# --- Target_link_libraries(my_app PRIVATE dock_planner::dock_planner) --- # --- Target_link_libraries(my_app PRIVATE dock_planner::dock_planner) ---

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/OccupancyGrid.h>
#include <robot_nav_msgs/GetPlan.h> #include <robot_nav_msgs/GetPlan.h>
#include <costmap_2d/costmap_2d_robot.h> #include <robot_costmap_2d/costmap_2d_robot.h>
#include <costmap_2d/costmap_2d.h> #include <robot_costmap_2d/costmap_2d.h>
#include <costmap_2d/inflation_layer.h> #include <robot_costmap_2d/inflation_layer.h>
#include <tf3/LinearMath/Quaternion.h> #include <tf3/LinearMath/Quaternion.h>
@ -120,7 +120,7 @@ namespace dock_planner
public: public:
//Params //Params
costmap_2d::Costmap2D* costmap_; robot_costmap_2d::Costmap2D* costmap_;
int cost_threshold_; // Threshold for obstacle detection int cost_threshold_; // Threshold for obstacle detection
double safety_distance_; // Safety distance from obstacles 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: public:
DockPlanner(); 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, bool makePlan(const robot_geometry_msgs::PoseStamped& start,
const robot_geometry_msgs::PoseStamped& goal, const robot_geometry_msgs::PoseStamped& goal,
@ -21,8 +21,8 @@ namespace dock_planner {
private: private:
// Core components // Core components
costmap_2d::Costmap2DROBOT* costmap_robot_; robot_costmap_2d::Costmap2DROBOT* costmap_robot_;
costmap_2d::Costmap2D* costmap_; robot_costmap_2d::Costmap2D* costmap_;
bool initialized_; bool initialized_;
std::string frame_id_; std::string frame_id_;
// ros::Publisher plan_pub_; // ros::Publisher plan_pub_;

2
src/dock_calc.cpp
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@ -728,7 +728,7 @@ namespace dock_planner
// check_y >= 0 && check_y < costmap_->getSizeInCellsY()) // check_y >= 0 && check_y < costmap_->getSizeInCellsY())
// { // {
// unsigned char cost = costmap_->getCost(check_x, check_y); // unsigned char cost = costmap_->getCost(check_x, check_y);
// if (cost >= costmap_2d::LETHAL_OBSTACLE) // if (cost >= robot_costmap_2d::LETHAL_OBSTACLE)
// { // {
// double dx = pose.position.x - space_footprint[i].x; // double dx = pose.position.x - space_footprint[i].x;
// double dy = pose.position.y - space_footprint[i].y; // double dy = pose.position.y - space_footprint[i].y;

4
src/dock_planner.cpp
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@ -21,7 +21,7 @@ namespace dock_planner
* @param costmap_robot Pointer tới costmap ROS wrapper * @param costmap_robot Pointer tới costmap ROS wrapper
* Tự động gọi initialize() nếu được cung cấp costmap * Tự động gọi initialize() nếu được cung cấp costmap
*/ */
DockPlanner::DockPlanner(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot) DockPlanner::DockPlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot)
: costmap_robot_(nullptr), : costmap_robot_(nullptr),
costmap_(nullptr), costmap_(nullptr),
initialized_(false), initialized_(false),
@ -43,7 +43,7 @@ namespace dock_planner
* - Load parameters từ ROS parameter server * - Load parameters từ ROS parameter server
* - Đánh dấu trạng thái initialized * - Đánh dấu trạng thái initialized
*/ */
bool DockPlanner::initialize(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot) bool DockPlanner::initialize(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot)
{ {
if (!initialized_) if (!initialized_)
{ {