Hiep update

Controllers/Packages/amr_control/CMakeLists.txt

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

Controllers/Packages/amr_control/include/amr_control/amr_control.h

@@ -25,9 +25,9 @@
 #include <nova5_control/imr_nova_control.h>
 #include <amr_control/amr_safety.h>
 
-#include <robot/console.h>  
+// #include <robot/node_handle.h>
 // Plugin Loader
-#include <robot/plugin_loader_helper.h>
+// #include <robot/plugin_loader_helper.h>
 #include <boost/dll/import.hpp>
 
 namespace amr_control
@@ -85,8 +85,8 @@ namespace amr_control
     std::shared_ptr<amr_control::AmrMonitor> monitor_ptr_;
     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
     std::shared_ptr<std::thread> move_base_thr_;

Controllers/Packages/amr_control/include/amr_control/amr_opc_ua_server_api.h

@@ -20,7 +20,7 @@ namespace amr_control
      * @param move_base Con trỏ đến đối tượng BaseNavigation, cho phép điều hướng robot.
      * @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);
 
     /**
@@ -840,7 +840,7 @@ namespace amr_control
     static void *ThreadWorker(void *_);
 
     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<amr_control::AmrMonitor> monitor_ptr_;
 

Controllers/Packages/amr_control/include/amr_control/amr_vda_5050_client_api.h

@@ -26,7 +26,7 @@ namespace amr_control
      * @param move_base Con trỏ đến đối tượng BaseNavigation, cho phép điều hướng robot.
      * @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);
 
     /**
@@ -84,7 +84,7 @@ namespace amr_control
 
     // properties
     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<amr_control::AmrMonitor> monitor_ptr_;
 

Controllers/Packages/amr_control/src/amr_opc_ua_server_api.cpp

@@ -12,7 +12,7 @@
 #define STATUS_SUCCESSED 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)
 {
   this->nh_ = nh;
@@ -3457,7 +3457,7 @@ void amr_control::OpcUAServerAPI::resetState()
 
 ros::Publisher amr_control::OpcUAServerAPI::init_pub_;
 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<amr_control::AmrMonitor> amr_control::OpcUAServerAPI::monitor_ptr_ = nullptr;
 nav_2d_msgs::Twist2D amr_control::OpcUAServerAPI::cmd_vel_max_;

pnkx_nav_core

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