update init

config/costmap_global_params.yaml

@@ -1,13 +1,14 @@
 global_costmap:
-    global_frame: map
-    update_frequency: 1.0
-    publish_frequency: 1.0
-    raytrace_range: 2.0
-    resolution: 0.05
-    z_resolution: 0.2
-    rolling_window: false
-    z_voxels: 10
-    inflation:
-      cost_scaling_factor:  10.0  # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
-      inflation_radius:     0.6  # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
+  path_plugins: /home/robotics/AGV/Diff_Wheel_Prj/pnkx_nav_core/build/src/Libraries/costmap_2d/libplugins.so
+  global_frame: map
+  update_frequency: 1.0
+  publish_frequency: 1.0
+  raytrace_range: 2.0
+  resolution: 0.05
+  z_resolution: 0.2
+  rolling_window: false
+  z_voxels: 10
+  inflation:
+    cost_scaling_factor:  10.0  # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
+    inflation_radius:     0.6  # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
 

config/costmap_global_params_plugins_no_virtual_walls.yaml

@@ -1,10 +1,10 @@
 global_costmap:
     frame_id: map
     plugins:
-        - {name: navigation_map, type: "costmap_2d::StaticLayer" }
-        - {name: virtual_walls_map, type: "costmap_2d::StaticLayer" }
-        - {name: obstacles,  type: "costmap_2d::VoxelLayer" }
-        - {name: inflation,  type: "costmap_2d::InflationLayer" }
+        - {name: navigation_map, type: "StaticLayer" }
+        - {name: virtual_walls_map, type: "StaticLayer" }
+        - {name: obstacles,  type: "VoxelLayer" }
+        - {name: inflation,  type: "InflationLayer" }
     obstacles:
         enabled: false
         footprint_clearing_enabled: false

config/costmap_local_params.yaml

@@ -1,16 +1,17 @@
 local_costmap:  
-    global_frame: odom
-    update_frequency: 6.0
-    publish_frequency: 6.0
-    rolling_window: true
-    raytrace_range: 2.0
-    resolution: 0.05
-    z_resolution: 0.15
-    z_voxels: 8
-    inflation:
-      cost_scaling_factor: 10.0  # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
-      inflation_radius: 0.3  # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
-    width: 8.0
-    height: 8.0
-    origin_x: 0.0
-    origin_y: 0.0
+  path_plugins: /home/robotics/AGV/Diff_Wheel_Prj/pnkx_nav_core/build/src/Libraries/costmap_2d/libplugins.so
+  global_frame: odom
+  update_frequency: 6.0
+  publish_frequency: 6.0
+  rolling_window: true
+  raytrace_range: 2.0
+  resolution: 0.05
+  z_resolution: 0.15
+  z_voxels: 8
+  inflation:
+    cost_scaling_factor: 10.0  # Exponential rate at which the obstacle cost drops off (default: 10). Must be chosen so that the cost value is > 0 at robot's circumscribed radius.
+    inflation_radius: 0.3  # Max. distance from an obstacle at which costs are incurred for planning paths. Must be > robot's circumscribed radius.
+  width: 8.0
+  height: 8.0
+  origin_x: 0.0
+  origin_y: 0.0

config/costmap_local_params_plugins_no_virtual_walls.yaml

@@ -1,8 +1,8 @@
 local_costmap:
-    # frame_id: odom
-    # plugins:
-    #     - {name: obstacles,  type: "costmap_2d::VoxelLayer" }
-    #     - {name: inflation,  type: "costmap_2d::InflationLayer" }
-    obstacles:
-        enabled: true
-        footprint_clearing_enabled: true
+  frame_id: odom
+  plugins:
+    - {name: obstacles,  type: "VoxelLayer" }
+    - {name: inflation,  type: "InflationLayer" }
+  obstacles:
+    enabled: true
+    footprint_clearing_enabled: true

config/pnkx_local_planner_params.yaml

@@ -14,33 +14,33 @@ publish_topic: true
 LocalPlannerAdapter:
   PNKXLocalPlanner:
     # Algorithm
-    trajectory_generator_name: mkt_plugins::LimitedAccelGenerator 
-    algorithm_nav_name: mkt_algorithm::diff::PredictiveTrajectory
-    algorithm_rotate_name: mkt_algorithm::diff::RotateToGoal
+    trajectory_generator_name: LimitedAccelGenerator 
+    algorithm_nav_name: MKTAlgorithmDiffPredictiveTrajectory
+    algorithm_rotate_name: MKTAlgorithmDiffRotateToGoal
     # Goal checking
-    goal_checker_name: mkt_plugins::GoalChecker 
+    goal_checker_name: GoalChecker 
 
   PNKXDockingLocalPlanner: 
     # Algorithm
-    trajectory_generator_name: mkt_plugins::LimitedAccelGenerator 
-    algorithm_nav_name: mkt_algorithm::diff::PredictiveTrajectory
-    algorithm_rotate_name: mkt_algorithm::diff::RotateToGoal
+    trajectory_generator_name: LimitedAccelGenerator 
+    algorithm_nav_name: MKTAlgorithmDiffPredictiveTrajectory
+    algorithm_rotate_name: MKTAlgorithmDiffRotateToGoal
     # Goal checking
-    goal_checker_name: mkt_plugins::GoalChecker 
+    goal_checker_name: GoalChecker 
 
   PNKXGoStraightLocalPlanner:
     # Algorithm
-    trajectory_generator_name: mkt_plugins::LimitedAccelGenerator 
-    algorithm_nav_name: mkt_algorithm::diff::GoStraight
+    trajectory_generator_name: LimitedAccelGenerator 
+    algorithm_nav_name: MKTAlgorithmDiffGoStraight
     # Goal checking
-    goal_checker_name: mkt_plugins::GoalChecker 
+    goal_checker_name: GoalChecker 
 
   PNKXRotateLocalPlanner:
     # Algorithm
-    algorithm_rotate_name: mkt_algorithm::diff::RotateToGoal
-    trajectory_generator_name: mkt_plugins::LimitedAccelGenerator 
+    algorithm_rotate_name: MKTAlgorithmDiffRotateToGoal
+    trajectory_generator_name: LimitedAccelGenerator 
     # Goal checking
-    goal_checker_name: mkt_plugins::SimpleGoalChecker
+    goal_checker_name: SimpleGoalChecker
     stateful: true
     
 LimitedAccelGenerator: