HiepLM/AMR_T800
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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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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_)
{