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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4
examples/NavigationExample/Program.cs
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@@ -406,9 +406,9 @@ namespace NavigationExample
// Console.WriteLine("Docking to docking_point"); // Console.WriteLine("Docking to docking_point");
// NavigationAPI.navigation_dock_to_order(navHandle, order, "charger", goal); NavigationAPI.navigation_dock_to(navHandle, "charger", goal);
NavigationAPI.navigation_move_to_nodes_edges(navHandle, order.nodes, order.nodes_count, order.edges, order.edges_count, goal); // NavigationAPI.navigation_move_to_nodes_edges(navHandle, order.nodes, order.nodes_count, order.edges, order.edges_count, goal);
// NavigationAPI.navigation_move_to_order(navHandle, order, goal); // NavigationAPI.navigation_move_to_order(navHandle, order, goal);
NavigationAPI.navigation_set_twist_linear(navHandle, 0.1, 0.0, 0.0); NavigationAPI.navigation_set_twist_linear(navHandle, 0.1, 0.0, 0.0);

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 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()>( docking_planner_loader_ = boost::dll::import_alias<robot_nav_core::BaseGlobalPlanner::Ptr()>(
path_file_so, docking_planner_name_, boost::dll::load_mode::append_decorations); path_file_so, docking_planner_name_, boost::dll::load_mode::append_decorations);
docking_planner_ = docking_planner_loader_(); docking_planner_ = docking_planner_loader_();
@@ -616,7 +617,8 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::DockingPlanner::initialize(rob
{ {
try 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()>( docking_nav_loader_ = boost::dll::import_alias<score_algorithm::ScoreAlgorithm::Ptr()>(
path_file_so, docking_nav_name_, boost::dll::load_mode::append_decorations); path_file_so, docking_nav_name_, boost::dll::load_mode::append_decorations);
docking_nav_ = docking_nav_loader_(); docking_nav_ = docking_nav_loader_();