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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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42
Localizations/Cores/loc_core/include/loc_core/common.h
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@@ -1,42 +0,0 @@
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2017, Locus Robotics
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef _LOC_CORE_COMMON_H_INCLUDED_
#define _LOC_CORE_COMMON_H_INCLUDED_
#include <tf2_ros/buffer.h>
#include <memory>
using TFListenerPtr = std::shared_ptr<tf2_ros::Buffer>;
#endif // _LOC_CORE_COMMON_H_INCLUDED_

4
Localizations/Cores/loc_core/include/loc_core/localization.h
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@@ -6,7 +6,7 @@
#include <memory>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Pose2D.h>
#include <loc_core/common.h>
// #include <loc_core/common.h>
namespace loc_core
{
@@ -39,7 +39,7 @@ namespace loc_core
* @param nh A Node handle
*
*/
virtual void initialize(ros::NodeHandle nh, TFListenerPtr tf) = 0;
virtual void initialize(ros::NodeHandle nh, std::shared_ptr<tf2_ros::Buffer> tf) = 0;
/**
* @brief Loading a Activate Map File name