HiepLM/pnkx_nav_core
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update find path file plugin .so

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This commit is contained in:
hoangson02
2026-03-22 05:00:23 +00:00
parent 3c8e1cdaf5
commit 768a257b33
2 changed files with 5 additions and 3 deletions
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3
src/Libraries/robot_cpp/src/plugin_loader_helper.cpp
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@@ -66,7 +66,6 @@ std::string PluginLoaderHelper::findLibraryPath(const std::string& symbol_name)
} }
// Try to read from NodeHandle // Try to read from NodeHandle
std::string library_path; std::string library_path;
robot::log_info_at(__FILE__, __LINE__, "%s", symbol_name.c_str());
if (nh_.hasParam(param_path)) { if (nh_.hasParam(param_path)) {
nh_.getParam(param_path, library_path, std::string("")); nh_.getParam(param_path, library_path, std::string(""));
if (!library_path.empty()) { if (!library_path.empty()) {
@@ -339,7 +338,7 @@ std::string PluginLoaderHelper::getBuildDirectory()
std::string PluginLoaderHelper::getWorkspacePath() std::string PluginLoaderHelper::getWorkspacePath()
{ {
// Method 1: Từ environment variable PNKX_NAV_CORE_DIR // Method 1: Từ environment variable PNKX_NAV_CORE_DIR
const char* workspace_path = std::getenv("PNKX_NAV_CORE_LIBRARY_PATH"); const char* workspace_path = std::getenv("PNKX_NAV_CORE_DIR");
if (workspace_path && std::filesystem::exists(workspace_path)) { if (workspace_path && std::filesystem::exists(workspace_path)) {
return std::string(workspace_path); return std::string(workspace_path);
} }

5
src/Navigations/Packages/move_base/src/move_base.cpp
View File

@@ -271,6 +271,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf)
{ {
robot::PluginLoaderHelper loader; robot::PluginLoaderHelper loader;
std::string path_file_so = loader.findLibraryPath(global_planner); std::string path_file_so = loader.findLibraryPath(global_planner);
robot::log_info("[%s:%d]\n INFO: global_planner library path: %s", __FILE__, __LINE__, path_file_so.c_str());
planner_loader_ = boost::dll::import_alias<robot_nav_core::BaseGlobalPlanner::Ptr()>( planner_loader_ = boost::dll::import_alias<robot_nav_core::BaseGlobalPlanner::Ptr()>(
path_file_so, global_planner, boost::dll::load_mode::append_decorations); path_file_so, global_planner, boost::dll::load_mode::append_decorations);
@@ -314,6 +315,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf)
{ {
robot::PluginLoaderHelper loader; robot::PluginLoaderHelper loader;
std::string path_file_so = loader.findLibraryPath(local_planner); std::string path_file_so = loader.findLibraryPath(local_planner);
robot::log_info("[%s:%d]\n INFO: local_planner library path: %s", __FILE__, __LINE__, path_file_so.c_str());
controller_loader_ = controller_loader_ =
boost::dll::import_alias<robot_nav_core::BaseLocalPlanner::Ptr()>( boost::dll::import_alias<robot_nav_core::BaseLocalPlanner::Ptr()>(
path_file_so, local_planner, boost::dll::load_mode::append_decorations); path_file_so, local_planner, boost::dll::load_mode::append_decorations);
@@ -401,7 +403,7 @@ void move_base::MoveBase::swapPlanner(std::string base_global_planner)
boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_); boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
robot::PluginLoaderHelper loader; robot::PluginLoaderHelper loader;
std::string path_file_so = loader.findLibraryPath(base_global_planner); std::string path_file_so = loader.findLibraryPath(base_global_planner);
robot::log_info("[%s:%d]\n INFO: global_planner library path: %s", __FILE__, __LINE__, path_file_so.c_str());
auto new_loader = boost::dll::import_alias<robot_nav_core::BaseGlobalPlanner::Ptr()>( auto new_loader = boost::dll::import_alias<robot_nav_core::BaseGlobalPlanner::Ptr()>(
path_file_so, base_global_planner, boost::dll::load_mode::append_decorations); path_file_so, base_global_planner, boost::dll::load_mode::append_decorations);
auto new_planner = new_loader(); auto new_planner = new_loader();
@@ -2005,6 +2007,7 @@ bool move_base::MoveBase::loadRecoveryBehaviors(const robot::NodeHandle &node)
std::string behavior_name = behavior["name"].as<std::string>(); std::string behavior_name = behavior["name"].as<std::string>();
robot::PluginLoaderHelper loader; robot::PluginLoaderHelper loader;
std::string path_file_so = loader.findLibraryPath(behavior_type); std::string path_file_so = loader.findLibraryPath(behavior_type);
robot::log_info("Loading recovery behavior '%s' of type '%s' from '%s'", behavior_name.c_str(), behavior_type.c_str(), path_file_so.c_str());
// Load the factory function from the shared library // Load the factory function from the shared library
recovery_loaders_[behavior_name] = boost::dll::import_alias<robot_nav_core::RecoveryBehavior::Ptr()>( recovery_loaders_[behavior_name] = boost::dll::import_alias<robot_nav_core::RecoveryBehavior::Ptr()>(
path_file_so, behavior_type, boost::dll::load_mode::append_decorations); path_file_so, behavior_type, boost::dll::load_mode::append_decorations);