HiepLM/pnkx_nav_core
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fix bug docking

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This commit is contained in:
HiepLM
2026-03-20 11:24:00 +07:00
parent e90a84c229
commit aa63caa188
2 changed files with 6 additions and 4 deletions
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6
src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp
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@@ -593,7 +593,8 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::DockingPlanner::initialize(rob
{
try
{
std::string path_file_so = "/home/robotics/AGV/Diff_Wheel_Prj/pnkx_robot_nav_core2/build/src/Algorithms/Packages/local_planners/pnkx_local_planner/libpnkx_local_planner.so";
robot::PluginLoaderHelper loader;
std::string path_file_so = loader.findLibraryPath(docking_planner_name_);
docking_planner_loader_ = boost::dll::import_alias<robot_nav_core::BaseGlobalPlanner::Ptr()>(
path_file_so, docking_planner_name_, boost::dll::load_mode::append_decorations);
docking_planner_ = docking_planner_loader_();
@@ -616,7 +617,8 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::DockingPlanner::initialize(rob
{
try
{
std::string path_file_so = "/home/robotics/AGV/Diff_Wheel_Prj/pnkx_robot_nav_core2/build/src/Algorithms/Packages/local_planners/pnkx_local_planner/libpnkx_local_planner.so";
robot::PluginLoaderHelper loader;
std::string path_file_so = loader.findLibraryPath(docking_nav_name_);
docking_nav_loader_ = boost::dll::import_alias<score_algorithm::ScoreAlgorithm::Ptr()>(
path_file_so, docking_nav_name_, boost::dll::load_mode::append_decorations);
docking_nav_ = docking_nav_loader_();