update thuat toán moi

Controllers/Packages/amr_control/include/amr_control/amr_subcriber.h

@@ -4,6 +4,7 @@
 #include <ros/ros.h>
 #include <robot/robot.h>
 #include <geometry_msgs/PoseStamped.h>
+#include <nav_msgs/Odometry.h>
 #include <move_base_core/navigation.h>
 #include <memory>
 #include <string>
@@ -18,9 +19,11 @@ namespace amr_control
 
   private:
     void moveBaseSimpleCallback(const geometry_msgs::PoseStamped::ConstPtr &msg);
+    void odometryCallback(const nav_msgs::Odometry::ConstPtr &msg);
     
     ros::NodeHandle nh_;
     ros::Subscriber move_base_simple_sub_;
+    ros::Subscriber odometry_sub_;
     robot::move_base_core::BaseNavigation::Ptr move_base_ptr_;
   };
 } // namespace amr_control