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Hiep update

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HiepLM
2025-12-30 19:10:22 +07:00
parent 45371670a2
commit cfb071660f
5 changed files with 12 additions and 11 deletions
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8
Controllers/Packages/amr_control/include/amr_control/amr_control.h
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@@ -25,9 +25,9 @@
#include <nova5_control/imr_nova_control.h>
#include <amr_control/amr_safety.h>
#include <robot/console.h>
// #include <robot/node_handle.h>
// Plugin Loader
#include <robot/plugin_loader_helper.h>
// #include <robot/plugin_loader_helper.h>
#include <boost/dll/import.hpp>
namespace amr_control
@@ -85,8 +85,8 @@ namespace amr_control
std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_;
std::shared_ptr<std::thread> monitor_thr_;
move_base_core::BaseNavigation::Ptr move_base_ptr_;
boost::function<move_base_core::BaseNavigation::Ptr()> move_base_loader_;
robot::move_base_core::BaseNavigation::Ptr move_base_ptr_;
boost::function<robot::move_base_core::BaseNavigation::Ptr()> move_base_loader_;
// Synchronous processing thread
std::shared_ptr<std::thread> move_base_thr_;

4
Controllers/Packages/amr_control/include/amr_control/amr_opc_ua_server_api.h
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@@ -20,7 +20,7 @@ namespace amr_control
* @param move_base Con trỏ đến đối tượng BaseNavigation, cho phép điều hướng robot.
* @param loc_base Con trỏ đến đối tượng LocBase.
*/
OpcUAServerAPI(const ros::NodeHandle &nh, std::shared_ptr<move_base_core::BaseNavigation> move_base,
OpcUAServerAPI(const ros::NodeHandle &nh, std::shared_ptr<robot::move_base_core::BaseNavigation> move_base,
std::shared_ptr<loc_core::BaseLocalization> loc_base, std::shared_ptr<amr_control::AmrMonitor> monitor);
/**
@@ -840,7 +840,7 @@ namespace amr_control
static void *ThreadWorker(void *_);
static std::shared_ptr<amr_comunication::AmrOpcUAServer> server_ptr_;
static std::shared_ptr<move_base_core::BaseNavigation> move_base_ptr_;
static std::shared_ptr<robot::move_base_core::BaseNavigation> move_base_ptr_;
static std::shared_ptr<loc_core::BaseLocalization> loc_base_ptr_;
static std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_;

4
Controllers/Packages/amr_control/include/amr_control/amr_vda_5050_client_api.h
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@@ -26,7 +26,7 @@ namespace amr_control
* @param move_base Con trỏ đến đối tượng BaseNavigation, cho phép điều hướng robot.
* @param loc_base Con trỏ đến đối tượng LocBase.
*/
VDA5050ClientAPI(ros::NodeHandle nh, std::shared_ptr<move_base_core::BaseNavigation> move_base,
VDA5050ClientAPI(ros::NodeHandle nh, std::shared_ptr<robot::move_base_core::BaseNavigation> move_base,
std::shared_ptr<loc_core::BaseLocalization> loc_base, std::shared_ptr<amr_control::AmrMonitor> monitor);
/**
@@ -84,7 +84,7 @@ namespace amr_control
// properties
std::shared_ptr<amr_comunication::VDA5050Connector> client_ptr_;
static std::shared_ptr<move_base_core::BaseNavigation> move_base_ptr_;
static std::shared_ptr<robot::move_base_core::BaseNavigation> move_base_ptr_;
static std::shared_ptr<loc_core::BaseLocalization> loc_base_ptr_;
static std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_;