From 9c436fdae6afaf5e7136b0e6c51d053728e5aff7 Mon Sep 17 00:00:00 2001 From: HiepLM Date: Thu, 5 Feb 2026 16:59:14 +0700 Subject: [PATCH] update --- Controllers/Packages/amr_control/src/amr_control.cpp | 10 +++++----- Controllers/Packages/amr_control/src/amr_subcriber.cpp | 8 ++++---- pnkx_nav_core | 2 +- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/Controllers/Packages/amr_control/src/amr_control.cpp b/Controllers/Packages/amr_control/src/amr_control.cpp index e7c8796..5d51dfb 100644 --- a/Controllers/Packages/amr_control/src/amr_control.cpp +++ b/Controllers/Packages/amr_control/src/amr_control.cpp @@ -250,11 +250,6 @@ namespace amr_control sensor_converter_ptr_ = std::make_shared(nh, move_base_ptr_); move_base_ptr_->initialize(tf_core_ptr_); - // Initialize costmap publisher for RViz visualization - robot::log_info("[%s:%d]\n Initializing costmap publisher...", __FILE__, __LINE__); - amr_publisher_ptr_ = std::make_shared(nh, move_base_ptr_); - amr_subscriber_ptr_ = std::make_shared(nh, move_base_ptr_); - ros::Rate r(3); do { @@ -262,6 +257,11 @@ namespace amr_control ros::spinOnce(); } while (ros::ok() && !move_base_ptr_->getFeedback()->is_ready); + // Initialize costmap publisher for RViz visualization + robot::log_info("[%s:%d]\n Initializing costmap publisher...", __FILE__, __LINE__); + amr_publisher_ptr_ = std::make_shared(nh, move_base_ptr_); + amr_subscriber_ptr_ = std::make_shared(nh, move_base_ptr_); + if (move_base_ptr_ != nullptr && move_base_ptr_->getFeedback() != nullptr && move_base_ptr_->getFeedback()->is_ready) diff --git a/Controllers/Packages/amr_control/src/amr_subcriber.cpp b/Controllers/Packages/amr_control/src/amr_subcriber.cpp index 7cb1b75..15053bb 100644 --- a/Controllers/Packages/amr_control/src/amr_subcriber.cpp +++ b/Controllers/Packages/amr_control/src/amr_subcriber.cpp @@ -4,10 +4,10 @@ amr_control::AmrSubscriber::AmrSubscriber(ros::NodeHandle &nh, robot::move_base_core::BaseNavigation::Ptr move_base_ptr) : nh_(nh), move_base_ptr_(move_base_ptr) { - robot::log_info("[%s:%d] Initializing AmrSubscriber namespace: %s", __FILE__, __LINE__, nh_.getNamespace().c_str()); - ros::NodeHandle nh_move_base; - move_base_simple_sub_ = nh_move_base.subscribe("/move_base_simple/goal", 1, &AmrSubscriber::moveBaseSimpleCallback, this); - odometry_sub_ = nh_move_base.subscribe("/odom", 1, &AmrSubscriber::odometryCallback, this); + robot::log_info("[%s:%d] Initializing AmrSubscriber namespace: %s", __FILE__, __LINE__, nh_.getNamespace().c_str()); + ros::NodeHandle nh_move_base; + move_base_simple_sub_ = nh_move_base.subscribe("/move_base_simple/goal", 1, &AmrSubscriber::moveBaseSimpleCallback, this); + odometry_sub_ = nh_move_base.subscribe("/odom", 1, &AmrSubscriber::odometryCallback, this); } diff --git a/pnkx_nav_core b/pnkx_nav_core index cab5655..6e320bb 160000 --- a/pnkx_nav_core +++ b/pnkx_nav_core @@ -1 +1 @@ -Subproject commit cab5655769bc00a874418df3d777eee28e9e8384 +Subproject commit 6e320bbe5c5cc5f0982987c473616f872d57eb3d