HiepLM/pnkx_nav_core
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update

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HiepLM
2025-12-30 10:25:25 +07:00
parent dad2726eb1
commit 82afc4c203
60 changed files with 162 additions and 162 deletions
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14
examples/QUICK_START.md
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@@ -85,9 +85,9 @@ cp ../../build/src/APIs/c_api/libnav_c_api.so .
# 5. Set library path (quan trọng!)
export LD_LIBRARY_PATH=../../build/src/APIs/c_api:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/costmap_2d:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/tf3_geometry_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/tf3_sensor_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/robot_costmap_2d:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/robot_tf3_geometry_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/robot_tf3_sensor_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Packages/move_base:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Cores/move_base_core:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/tf3:$LD_LIBRARY_PATH
@@ -118,9 +118,9 @@ ls -la ../../build/src/APIs/c_api/libnav_c_api.so
# Set LD_LIBRARY_PATH (bao gồm tất cả dependencies)
export LD_LIBRARY_PATH=../../build/src/APIs/c_api:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/costmap_2d:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/tf3_geometry_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/tf3_sensor_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/robot_costmap_2d:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/robot_tf3_geometry_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/robot_tf3_sensor_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Packages/move_base:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Cores/move_base_core:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/tf3:$LD_LIBRARY_PATH
@@ -143,6 +143,6 @@ ldd libnav_c_api.so
→ Đã được sửa! `navigation_create()` bây giờ tạo instance của `move_base::MoveBase`.
Nếu vẫn gặp lỗi, kiểm tra:
- Library đã được build đầy đủ: `make nav_c_api` trong build directory
- Dependencies đã được build: `make move_base costmap_2d`
- Dependencies đã được build: `make move_base robot_costmap_2d`
- LD_LIBRARY_PATH đã được set đúng

6
examples/README.md
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@@ -78,9 +78,9 @@ Tạo file `NavigationExample.csproj`:
```bash
# Set LD_LIBRARY_PATH để tìm được tất cả dependencies
export LD_LIBRARY_PATH=../../build/src/APIs/c_api:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/costmap_2d:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/tf3_geometry_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/tf3_sensor_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/robot_costmap_2d:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/robot_tf3_geometry_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/geometry2/robot_tf3_sensor_msgs:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Packages/move_base:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Cores/move_base_core:$LD_LIBRARY_PATH
export LD_LIBRARY_PATH=../../build/src/Navigations/Libraries/tf3:$LD_LIBRARY_PATH

6
examples/run_example.sh
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@@ -95,9 +95,9 @@ export LD_LIBRARY_PATH="$BUILD_DIR:$LD_LIBRARY_PATH"
# Library directories for dependencies
export LD_LIBRARY_PATH="$BUILD_DIR/src/Libraries/robot_time:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$BUILD_DIR/src/Libraries/xmlrpcpp:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$BUILD_DIR/src/Libraries/costmap_2d:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$BUILD_DIR/src/Libraries/geometry2/tf3_geometry_msgs:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$BUILD_DIR/src/Libraries/geometry2/tf3_sensor_msgs:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$BUILD_DIR/src/Libraries/robot_costmap_2d:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$BUILD_DIR/src/Libraries/geometry2/robot_tf3_geometry_msgs:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$BUILD_DIR/src/Libraries/geometry2/robot_tf3_sensor_msgs:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$BUILD_DIR/src/Navigations/Packages/move_base:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$BUILD_DIR/src/Navigations/Cores/move_base_core:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="$BUILD_DIR/src/Navigations/Libraries/tf3:$LD_LIBRARY_PATH"