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base: HiepLM:dc652575d1491729fb44af0b9182488fa8f1a908
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HiepLM:v2
..
compare: HiepLM:cfb071660f59948a745fe730a6348f706ceb1e9e
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HiepLM:v2

2 Commits
dc652575d1 ... cfb071660f

Author SHA1 Message Date
HiepLM
cfb071660f Hiep update 2025-12-30 19:10:22 +07:00
HiepLM
45371670a2 update 2025-12-30 19:10:12 +07:00
6 changed files with 13 additions and 12 deletions
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3
Controllers/Packages/amr_control/CMakeLists.txt
View File

@ -21,10 +21,10 @@ find_package(catkin REQUIRED COMPONENTS
vda5050_msgs vda5050_msgs
) )
## System dependencies are found with CMake's conventions ## System dependencies are found with CMake's conventions
find_package(Boost REQUIRED COMPONENTS system thread) find_package(Boost REQUIRED COMPONENTS system thread)
find_package(PkgConfig) find_package(PkgConfig)
find_package(robot_cpp REQUIRED)
## Uncomment this if the package has a setup.py. This macro ensures ## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed ## modules and global scripts declared therein get installed
@ -198,6 +198,7 @@ target_link_libraries(${PROJECT_NAME}
${FreeOpcUa_LIBRARIES} ${FreeOpcUa_LIBRARIES}
${catkin_LIBRARIES} ${catkin_LIBRARIES}
${Boost_LIBRARIES} ${Boost_LIBRARIES}
robot_cpp
) )
# target_link_libraries(${PROJECT_NAME}_node # target_link_libraries(${PROJECT_NAME}_node

8
Controllers/Packages/amr_control/include/amr_control/amr_control.h
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@ -25,9 +25,9 @@
#include <nova5_control/imr_nova_control.h> #include <nova5_control/imr_nova_control.h>
#include <amr_control/amr_safety.h> #include <amr_control/amr_safety.h>
#include <robot/console.h> // #include <robot/node_handle.h>
// Plugin Loader // Plugin Loader
#include <robot/plugin_loader_helper.h> // #include <robot/plugin_loader_helper.h>
#include <boost/dll/import.hpp> #include <boost/dll/import.hpp>
namespace amr_control namespace amr_control
@ -85,8 +85,8 @@ namespace amr_control
std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_; std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_;
std::shared_ptr<std::thread> monitor_thr_; std::shared_ptr<std::thread> monitor_thr_;
move_base_core::BaseNavigation::Ptr move_base_ptr_; robot::move_base_core::BaseNavigation::Ptr move_base_ptr_;
boost::function<move_base_core::BaseNavigation::Ptr()> move_base_loader_; boost::function<robot::move_base_core::BaseNavigation::Ptr()> move_base_loader_;
// Synchronous processing thread // Synchronous processing thread
std::shared_ptr<std::thread> move_base_thr_; std::shared_ptr<std::thread> move_base_thr_;

4
Controllers/Packages/amr_control/include/amr_control/amr_opc_ua_server_api.h
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@ -20,7 +20,7 @@ namespace amr_control
* @param move_base Con trỏ đến đối tượng BaseNavigation, cho phép điều hướng robot. * @param move_base Con trỏ đến đối tượng BaseNavigation, cho phép điều hướng robot.
* @param loc_base Con trỏ đến đối tượng LocBase. * @param loc_base Con trỏ đến đối tượng LocBase.
*/ */
OpcUAServerAPI(const ros::NodeHandle &nh, std::shared_ptr<move_base_core::BaseNavigation> move_base, 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<amr_control::AmrMonitor> monitor); std::shared_ptr<loc_core::BaseLocalization> loc_base, std::shared_ptr<amr_control::AmrMonitor> monitor);
/** /**
@ -840,7 +840,7 @@ namespace amr_control
static void *ThreadWorker(void *_); static void *ThreadWorker(void *_);
static std::shared_ptr<amr_comunication::AmrOpcUAServer> server_ptr_; static std::shared_ptr<amr_comunication::AmrOpcUAServer> server_ptr_;
static std::shared_ptr<move_base_core::BaseNavigation> move_base_ptr_; static std::shared_ptr<robot::move_base_core::BaseNavigation> move_base_ptr_;
static std::shared_ptr<loc_core::BaseLocalization> loc_base_ptr_; static std::shared_ptr<loc_core::BaseLocalization> loc_base_ptr_;
static std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_; static std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_;

4
Controllers/Packages/amr_control/include/amr_control/amr_vda_5050_client_api.h
View File

@ -26,7 +26,7 @@ namespace amr_control
* @param move_base Con trỏ đến đối tượng BaseNavigation, cho phép điều hướng robot. * @param move_base Con trỏ đến đối tượng BaseNavigation, cho phép điều hướng robot.
* @param loc_base Con trỏ đến đối tượng LocBase. * @param loc_base Con trỏ đến đối tượng LocBase.
*/ */
VDA5050ClientAPI(ros::NodeHandle nh, std::shared_ptr<move_base_core::BaseNavigation> move_base, VDA5050ClientAPI(ros::NodeHandle nh, std::shared_ptr<robot::move_base_core::BaseNavigation> move_base,
std::shared_ptr<loc_core::BaseLocalization> loc_base, std::shared_ptr<amr_control::AmrMonitor> monitor); std::shared_ptr<loc_core::BaseLocalization> loc_base, std::shared_ptr<amr_control::AmrMonitor> monitor);
/** /**
@ -84,7 +84,7 @@ namespace amr_control
// properties // properties
std::shared_ptr<amr_comunication::VDA5050Connector> client_ptr_; std::shared_ptr<amr_comunication::VDA5050Connector> client_ptr_;
static std::shared_ptr<move_base_core::BaseNavigation> move_base_ptr_; static std::shared_ptr<robot::move_base_core::BaseNavigation> move_base_ptr_;
static std::shared_ptr<loc_core::BaseLocalization> loc_base_ptr_; static std::shared_ptr<loc_core::BaseLocalization> loc_base_ptr_;
static std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_; static std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_;

4
Controllers/Packages/amr_control/src/amr_opc_ua_server_api.cpp
View File

@ -12,7 +12,7 @@
#define STATUS_SUCCESSED 1 #define STATUS_SUCCESSED 1
#define STATUS_ERROR -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) std::shared_ptr<loc_core::BaseLocalization> loc_base, std::shared_ptr<AmrMonitor> monitor)
{ {
this->nh_ = nh; this->nh_ = nh;
@ -3457,7 +3457,7 @@ void amr_control::OpcUAServerAPI::resetState()
ros::Publisher amr_control::OpcUAServerAPI::init_pub_; ros::Publisher amr_control::OpcUAServerAPI::init_pub_;
std::shared_ptr<amr_comunication::AmrOpcUAServer> amr_control::OpcUAServerAPI::server_ptr_ = nullptr; 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<loc_core::BaseLocalization> amr_control::OpcUAServerAPI::loc_base_ptr_ = nullptr;
std::shared_ptr<amr_control::AmrMonitor> amr_control::OpcUAServerAPI::monitor_ptr_ = nullptr; std::shared_ptr<amr_control::AmrMonitor> amr_control::OpcUAServerAPI::monitor_ptr_ = nullptr;
nav_2d_msgs::Twist2D amr_control::OpcUAServerAPI::cmd_vel_max_; nav_2d_msgs::Twist2D amr_control::OpcUAServerAPI::cmd_vel_max_;

2
pnkx_nav_core

@ -1 +1 @@
Subproject commit 82804ff93a35c060914c6212955ef996a9bda6da Subproject commit 596e067050ff15f06c75b23452199ef0af42ac56