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update init

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HiepLM
2025-12-24 14:29:58 +07:00
parent f0225ae5e3
commit 10379d5b16
107 changed files with 5532 additions and 767 deletions
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29
examples/CSharpExample.cs
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@@ -159,6 +159,15 @@ namespace NavigationExample
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
public static extern void tf_listener_destroy(IntPtr handle);
[DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
[return: MarshalAs(UnmanagedType.I1)]
public static extern bool tf_listener_set_static_transform(
IntPtr tf_handle,
string parent_frame,
string child_frame,
double x, double y, double z,
double qx, double qy, double qz, double qw);
// ============================================================================
// Navigation Interface Methods
// ============================================================================
@@ -267,6 +276,26 @@ namespace NavigationExample
return;
}
// Inject a static TF so costmap can immediately canTransform(map <-> base_link).
// If you already publish TF from localization/odometry, you can remove this call.
if (!NavigationAPI.tf_listener_set_static_transform(tfHandle, "map", "odom",
0, 0, 0,
0, 0, 0, 1))
{
LogError("Failed to inject static TF map -> odom");
NavigationAPI.tf_listener_destroy(tfHandle);
return;
}
if (!NavigationAPI.tf_listener_set_static_transform(tfHandle, "odom", "base_link",
0, 0, 0,
0, 0, 0, 1))
{
LogError("Failed to inject static TF map -> base_link");
NavigationAPI.tf_listener_destroy(tfHandle);
return;
}
// Create navigation instance
IntPtr navHandle = NavigationAPI.navigation_create();
if (navHandle == IntPtr.Zero)