update

2026-03-21 19:03:11 +07:00
parent 56d05e4322
commit d51ecc0986
2 changed files with 6 additions and 7 deletions
--- a/include/dock_planner/dock_planner.h
+++ b/include/dock_planner/dock_planner.h
@@ -19,6 +19,8 @@ namespace dock_planner {
                    const robot_geometry_msgs::PoseStamped& goal,
                    std::vector<robot_geometry_msgs::PoseStamped>& plan);

+        static robot_nav_core::BaseGlobalPlanner::Ptr create();
+
    private:
        // Core components
        robot_costmap_2d::Costmap2DROBOT* costmap_robot_;
@@ -33,9 +35,6 @@ namespace dock_planner {
        bool check_free_space_;

        DockCalc calc_plan_to_dock_;
-        
-
-        void publishPlan(const std::vector<robot_geometry_msgs::PoseStamped>& plan);
    };
 } // namespace dock_planner