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update for ROS

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This commit is contained in:
HiepLM 2026-01-07 17:03:07 +07:00
parent ec6d5746e3
commit 76b563ad4d
5 changed files with 14 additions and 8 deletions
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9
Controllers/Packages/amr_control/CMakeLists.txt
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@ -44,6 +44,7 @@ catkin_package(
geometry_msgs geometry_msgs
loc_core loc_core
nav_2d_utils nav_2d_utils
robot_nav_2d_utils
move_base_core move_base_core
robot_cpp robot_cpp
roscpp roscpp
@ -106,12 +107,12 @@ add_dependencies(${PROJECT_NAME}_node
${${PROJECT_NAME}_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS}
${catkin_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}
) )
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings # Configure RPATH to find libraries in devel space
# Libraries will be found via LD_LIBRARY_PATH or system paths # Use ORIGIN to find libraries relative to executable location
set_target_properties(${PROJECT_NAME}_node PROPERTIES set_target_properties(${PROJECT_NAME}_node PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE INSTALL_RPATH_USE_LINK_PATH TRUE
BUILD_RPATH "${CATKIN_DEVEL_PREFIX}/lib"
) )
# add_dependencies(vda_5050_api_test # add_dependencies(vda_5050_api_test

2
Controllers/Packages/amr_control/include/amr_control/amr_control.h
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@ -74,7 +74,7 @@ namespace amr_control
bool initalized_; bool initalized_;
ros::NodeHandle nh_; ros::NodeHandle nh_;
std::shared_ptr<tf2_ros::Buffer> tf_; std::shared_ptr<tf2_ros::Buffer> tf_;
// robot::TFListenerPtr tf_core_ptr_; robot::TFListenerPtr tf_core_ptr_;
ros::Subscriber is_detected_maker_sub_; ros::Subscriber is_detected_maker_sub_;

7
Controllers/Packages/amr_control/src/amr_control.cpp
View File

@ -3,6 +3,7 @@
#include <robot/plugin_loader_helper.h> #include <robot/plugin_loader_helper.h>
#include <robot/console.h> #include <robot/console.h>
#include <robot/node_handle.h> #include <robot/node_handle.h>
#include <tf3/buffer_core.h>
namespace amr_control namespace amr_control
{ {
@ -16,6 +17,7 @@ namespace amr_control
loc_base_ptr_(nullptr), loc_base_ptr_(nullptr),
move_base_ptr_(nullptr), move_base_ptr_(nullptr),
amr_safety_ptr_(nullptr), amr_safety_ptr_(nullptr),
tf_core_ptr_(nullptr),
loc_base_loader_("loc_core", "loc_core::BaseLocalization") loc_base_loader_("loc_core", "loc_core::BaseLocalization")
{ {
this->init(nh, buffer); this->init(nh, buffer);
@ -31,6 +33,7 @@ namespace amr_control
loc_base_ptr_(nullptr), loc_base_ptr_(nullptr),
move_base_ptr_(nullptr), move_base_ptr_(nullptr),
amr_safety_ptr_(nullptr), amr_safety_ptr_(nullptr),
tf_core_ptr_(nullptr),
loc_base_loader_("loc_core", "loc_core::BaseLocalization") loc_base_loader_("loc_core", "loc_core::BaseLocalization")
{ {
} }
@ -79,6 +82,8 @@ namespace amr_control
{ {
nh_ = nh; nh_ = nh;
tf_ = buffer; tf_ = buffer;
// Create tf3::BufferCore instance for move_base
tf_core_ptr_ = std::make_shared<tf3::BufferCore>();
monitor_thr_ = std::make_shared<std::thread>( monitor_thr_ = std::make_shared<std::thread>(
[this]() [this]()
@ -231,7 +236,7 @@ namespace amr_control
robot::log_info("[%s:%d]\n Creating MoveBase instance...", __FILE__, __LINE__); robot::log_info("[%s:%d]\n Creating MoveBase instance...", __FILE__, __LINE__);
move_base_ptr_ = move_base_loader_(); move_base_ptr_ = move_base_loader_();
// move_base_ptr_->initialize(tf_core_ptr_); move_base_ptr_->initialize(tf_core_ptr_);
ros::Rate r(3); ros::Rate r(3);
do do

2
Controllers/Packages/amr_control/src/amr_control_node.cpp
View File

@ -21,7 +21,7 @@ int main(int argc, char** argv)
} }
catch (const std::exception& exc) catch (const std::exception& exc)
{ {
std::cout << exc.what() << std::endl; ROS_ERROR("Exception: %s", exc.what());
} }
return 0; return 0;
} }

2
pnkx_nav_core

@ -1 +1 @@
Subproject commit ca9e100bd91c94975480244be32e6ee0a3fd0f92 Subproject commit 6054f72ba85e8897b02e136c682a09ad3a79f5f9