update

CMakeLists.txt

@@ -44,6 +44,8 @@ if (NOT BUILDING_WITH_CATKIN)
     robot_cpp
   )
 
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+
 else()
 
 # ========================================================
@@ -56,7 +58,6 @@ else()
     robot_nav_2d_utils
     robot_std_msgs
     robot_geometry_msgs
-    tf3
     robot_time
     data_convert
     robot_costmap_2d
@@ -64,10 +65,15 @@ else()
     robot_cpp
   )
 
+  find_package(Boost REQUIRED COMPONENTS system thread filesystem)
+  find_package(Eigen3 REQUIRED)
+  # Find tf3 library
+  find_library(TF3_LIBRARY NAMES tf3 PATHS /usr/lib /usr/local/lib /usr/lib/x86_64-linux-gnu)
+  
   catkin_package(
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME}
-    CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_nav_2d_msgs robot_nav_2d_utils robot_std_msgs robot_geometry_msgs tf3 robot_time data_convert robot_costmap_2d robot_nav_core robot_cpp
+    CATKIN_DEPENDS robot_visualization_msgs robot_nav_msgs robot_nav_2d_msgs robot_nav_2d_utils robot_std_msgs robot_geometry_msgs robot_time data_convert robot_costmap_2d robot_nav_core robot_cpp
     DEPENDS Eigen3 Boost
   )
 
@@ -76,6 +82,7 @@ else()
     ${catkin_INCLUDE_DIRS}
     ${EIGEN3_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
+    ${TF3_INCLUDE_DIR}
   )
 endif()
 
@@ -97,11 +104,13 @@ if(BUILDING_WITH_CATKIN)
     PUBLIC
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
+    ${TF3_INCLUDE_DIR}
   )
 
   target_link_libraries(${PROJECT_NAME}
     PUBLIC ${catkin_LIBRARIES}
     PRIVATE Eigen3::Eigen Boost::system Boost::thread Boost::filesystem
+    ${TF3_LIBRARY}
   )
 
 else()
@@ -110,6 +119,7 @@ else()
     PUBLIC
       $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
       $<INSTALL_INTERFACE:include>
+    ${TF3_INCLUDE_DIR}
   )
 
   target_link_libraries(${PROJECT_NAME}
@@ -117,6 +127,7 @@ else()
       ${PACKAGES_DIR}
     PRIVATE
       Eigen3::Eigen Boost::system Boost::thread Boost::filesystem
+      ${TF3_LIBRARY}
   )
 
   set_target_properties(${PROJECT_NAME} PROPERTIES

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
 

package.xml

@@ -34,8 +34,8 @@
   <build_depend>robot_std_msgs</build_depend>
   <run_depend>robot_std_msgs</run_depend>
 
-  <build_depend>tf3</build_depend>
+  
-  <run_depend>tf3</run_depend>
+  
 
   <build_depend>robot_cpp</build_depend>
   <run_depend>robot_cpp</run_depend>

src/dock_planner.cpp

@@ -1,6 +1,7 @@
 #include "dock_planner/dock_planner.h"
 #include <cmath>
 #include <algorithm>
+#include <boost/dll/alias.hpp>
 
 namespace dock_planner 
 {
@@ -79,6 +80,7 @@ namespace dock_planner
             initialized_ = true;
             // ROS_WARN("[dock_planner] check_free_space_(%d)", check_free_space_);
         }
+        return true;
     }
     
     bool DockPlanner::makePlan(const robot_geometry_msgs::PoseStamped& start,
@@ -108,7 +110,6 @@ namespace dock_planner
           pose.pose.orientation = planMoveToDock[i].orientation;
           plan.push_back(pose);
         }
-        publishPlan(plan);
         return true;
     }
 
@@ -121,4 +122,13 @@ namespace dock_planner
     //     plan_pub_.publish(path_msg);
     // }
 
+    // Export factory function
+    robot_nav_core::BaseGlobalPlanner::Ptr DockPlanner::create() {
+        return std::make_shared<dock_planner::DockPlanner>();
+    }
+
+
 } // namespace dock_planner
+
+// Alias cho Boost.DLL (nếu muốn dùng boost::dll::import_alias)
+BOOST_DLL_ALIAS(dock_planner::DockPlanner::create, DockPlanner)