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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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4
Controllers/Packages/amr_control/src/amr_opc_ua_server_api.cpp
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@@ -12,7 +12,7 @@
#define STATUS_SUCCESSED 1
#define STATUS_ERROR -1
amr_control::OpcUAServerAPI::OpcUAServerAPI(const ros::NodeHandle &nh, std::shared_ptr<move_base_core::BaseNavigation> move_base,
amr_control::OpcUAServerAPI::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<AmrMonitor> monitor)
{
this->nh_ = nh;
@@ -3457,7 +3457,7 @@ void amr_control::OpcUAServerAPI::resetState()
ros::Publisher amr_control::OpcUAServerAPI::init_pub_;
std::shared_ptr<amr_comunication::AmrOpcUAServer> amr_control::OpcUAServerAPI::server_ptr_ = nullptr;
std::shared_ptr<move_base_core::BaseNavigation> amr_control::OpcUAServerAPI::move_base_ptr_ = nullptr;
std::shared_ptr<robot::move_base_core::BaseNavigation> amr_control::OpcUAServerAPI::move_base_ptr_ = nullptr;
std::shared_ptr<loc_core::BaseLocalization> amr_control::OpcUAServerAPI::loc_base_ptr_ = nullptr;
std::shared_ptr<amr_control::AmrMonitor> amr_control::OpcUAServerAPI::monitor_ptr_ = nullptr;
nav_2d_msgs::Twist2D amr_control::OpcUAServerAPI::cmd_vel_max_;