HiepLM/pnkx_nav_core
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update

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This commit is contained in:
hoangson02
2026-02-26 10:12:04 +00:00
parent 34cabd2083
commit ab3e65de1b
6 changed files with 40 additions and 19 deletions
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1
src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_go_straight.cpp
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@@ -143,7 +143,6 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::GoStraight::calculator(
lookahead_dist = sqrt(carrot_pose.pose.y *carrot_pose.pose.y + lookahead_dist * lookahead_dist);
}
robot_nav_2d_msgs::Twist2D drive_target;
robot::log_info_at(__FILE__, __LINE__, "y: %f theta: %f", transformed_plan.poses.front().pose.y, transformed_plan.poses.front().pose.theta);
transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target);
carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);

9
src/Navigations/Cores/robot_nav_core_adapter/src/local_planner_adapter.cpp
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@@ -157,6 +157,15 @@ namespace robot_nav_core_adapter
robot::log_error_at(__FILE__, __LINE__, "Failed to load planner %s", planner_name.c_str());
throw std::runtime_error("Failed to load planner " + planner_name);
}
if(tf_ == nullptr)
{
robot::log_error("[%s:%d]\n ERROR: tf is nullptr", __FILE__, __LINE__);
throw std::runtime_error("Failed to create the tf");
}
else
{
robot::log_info("[%s:%d]\n INFO: tf is not nullptr", __FILE__, __LINE__);
}
new_planner->initialize(private_nh_, planner_name, tf_, costmap_robot_);
planner_ = new_planner;
planner_loader_ = new_loader;