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update

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HiepLM
2025-12-30 15:46:20 +07:00
parent 7b27905ad4
commit dc652575d1
69 changed files with 3834 additions and 22719 deletions
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23
Controllers/Packages/amr_control/include/amr_control/amr_control.h
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@@ -18,11 +18,17 @@
#include "amr_control/amr_vda_5050_client_api.h"
// Objects
#include "move_base_core/navigation.h"
#include "loc_core/localization.h"
#include "amr_control/amr_monitor.h"
#include "nova5_control/imr_nova_control.h"
#include "amr_control/amr_safety.h"
#include <move_base_core/common.h> // For TFListenerPtr
#include <move_base_core/navigation.h>
#include <loc_core/localization.h>
#include <amr_control/amr_monitor.h>
#include <nova5_control/imr_nova_control.h>
#include <amr_control/amr_safety.h>
#include <robot/console.h>
// Plugin Loader
#include <robot/plugin_loader_helper.h>
#include <boost/dll/import.hpp>
namespace amr_control
{
@@ -68,6 +74,8 @@ namespace amr_control
bool initalized_;
ros::NodeHandle nh_;
std::shared_ptr<tf2_ros::Buffer> tf_;
// robot::TFListenerPtr tf_core_ptr_;
ros::Subscriber is_detected_maker_sub_;
std::shared_ptr<amr_control::OpcUAServerAPI> opc_ua_server_api_ptr_;
@@ -77,8 +85,9 @@ namespace amr_control
std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_;
std::shared_ptr<std::thread> monitor_thr_;
std::shared_ptr<move_base_core::BaseNavigation> move_base_ptr_;
pluginlib::ClassLoader<move_base_core::BaseNavigation> move_base_loader_;
move_base_core::BaseNavigation::Ptr move_base_ptr_;
boost::function<move_base_core::BaseNavigation::Ptr()> move_base_loader_;
// Synchronous processing thread
std::shared_ptr<std::thread> move_base_thr_;
std::mutex init_move_base_mutex_;

10
Controllers/Packages/amr_control/include/amr_control/amr_opc_ua_server_api.h
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@@ -2,11 +2,11 @@
#define __AMR_COTROLLER_OPC_UA_SERVER_DEFINE_API_H_INCLUDED_
#include <ros/ros.h>
#include "move_base_core/navigation.h"
#include "loc_core/localization.h"
#include "amr_comunication/opc_ua/ua_server.h"
#include "amr_control/amr_monitor.h"
#include "amr_control/common.h"
#include <move_base_core/navigation.h>
#include <loc_core/localization.h>
#include <amr_comunication/opc_ua/ua_server.h>
#include <amr_control/amr_monitor.h>
#include <amr_control/common.h>
#include <pthread.h>
namespace amr_control