HiepLM/AMR_T800
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This commit is contained in:
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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14
Localizations/Packages/loc_base/CMakeLists.txt
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@@ -154,6 +154,13 @@ target_link_libraries(${PROJECT_NAME}
${catkin_LIBRARIES}
yaml-cpp
)
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(${PROJECT_NAME} PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
@@ -173,6 +180,13 @@ add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catk
target_link_libraries(${PROJECT_NAME}_node
${catkin_LIBRARIES}
)
# Fix circular RPATH dependency: disable automatic RPATH detection to avoid cycle warnings
# Libraries will be found via LD_LIBRARY_PATH or system paths
set_target_properties(${PROJECT_NAME}_node PROPERTIES
SKIP_BUILD_RPATH TRUE
BUILD_WITH_INSTALL_RPATH FALSE
INSTALL_RPATH_USE_LINK_PATH FALSE
)
#############
## Install ##

4
Localizations/Packages/loc_base/include/loc_base/loc_base.h
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@@ -29,7 +29,7 @@ namespace loc_base
* @param nh A Node handle
* @param tf A poiter tranform listen
*/
void initialize(ros::NodeHandle nh, TFListenerPtr tf) override;
void initialize(ros::NodeHandle nh, std::shared_ptr<tf2_ros::Buffer> tf) override;
/**
* @brief Loading a Activate Map File name
@@ -147,7 +147,7 @@ namespace loc_base
ros::NodeHandle nh_;
ros::NodeHandle private_nh_;
ros::Publisher init_pub_;
static TFListenerPtr tf_;
static std::shared_ptr<tf2_ros::Buffer> tf_;
XmlRpc::XmlRpcValue plugins_;
// std::map<std::string, std::string> map_file_vt_;

4
Localizations/Packages/loc_base/src/loc_base.cpp
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@@ -8,7 +8,7 @@
std::shared_ptr<amcl::Amcl> loc_base::LocBase::localization_althm_ = nullptr;
std::shared_ptr<slam_toolbox::AsynchronousSlamToolbox> loc_base::LocBase::mapping_althm_ = nullptr;
TFListenerPtr loc_base::LocBase::tf_;
std::shared_ptr<tf2_ros::Buffer> loc_base::LocBase::tf_;
std::string loc_base::LocBase::base_frame_id_;
std::string loc_base::LocBase::global_frame_id_;
std::string* loc_base::LocBase::working_dir_ptr_ = NULL;
@@ -38,7 +38,7 @@ void loc_base::LocBase::cleanup() {
loc_base::LocBase::mapping_althm_.reset();
}
void loc_base::LocBase::initialize(ros::NodeHandle nh, TFListenerPtr tf)
void loc_base::LocBase::initialize(ros::NodeHandle nh, std::shared_ptr<tf2_ros::Buffer> tf)
{
if (!initialized_)
{