HiepLM/AMR_T800
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HiepLM
2026-01-12 15:49:52 +07:00
parent bff56e85f1
commit 78b11b60fe
11 changed files with 594 additions and 27 deletions
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6
Controllers/Packages/amr_control/src/sensor_converter.cpp
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@@ -75,7 +75,7 @@ void amr_control::SensorConverter::convertAndAddMap(const nav_msgs::OccupancyGri
map.info.origin.orientation.w = nav_map.info.origin.orientation.w;
map.data = nav_map.data;
move_base_ptr_->addStaticMap("navigation_map", map);
move_base_ptr_->addStaticMap("/map", map);
}
}
@@ -104,7 +104,7 @@ void amr_control::SensorConverter::laserFScanCallback(const sensor_msgs::LaserSc
robot_scan.ranges = msg->ranges;
robot_scan.intensities = msg->intensities;
move_base_ptr_->addLaserScan("f_scan", robot_scan);
move_base_ptr_->addLaserScan("/f_scan", robot_scan);
}
}
@@ -127,6 +127,6 @@ void amr_control::SensorConverter::laserBScanCallback(const sensor_msgs::LaserSc
robot_scan.ranges = msg->ranges;
robot_scan.intensities = msg->intensities;
move_base_ptr_->addLaserScan("b_scan", robot_scan);
move_base_ptr_->addLaserScan("/b_scan", robot_scan);
}
}