HiepLM/pnkx_nav_core
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HiepLM
2026-02-06 15:54:35 +07:00
parent 6e320bbe5c
commit c0ceccf32c
11 changed files with 107 additions and 55 deletions
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7
src/Navigations/Cores/move_base_core/CMakeLists.txt
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@@ -31,6 +31,7 @@ if (NOT BUILDING_WITH_CATKIN)
robot_geometry_msgs
robot_protocol_msgs
robot_nav_2d_msgs
robot_nav_2d_utils
robot_nav_msgs
robot_sensor_msgs
)
@@ -41,17 +42,19 @@ else()
# Catkin specific configuration
# ========================================================
find_package(catkin REQUIRED COMPONENTS
tf3
robot_time
robot_geometry_msgs
robot_protocol_msgs
robot_nav_2d_msgs
robot_nav_2d_utils
)
find_package(tf3)
catkin_package(
INCLUDE_DIRS include
# LIBRARIES không cần vì đây là header-only library
CATKIN_DEPENDS tf3 robot_time robot_geometry_msgs robot_protocol_msgs robot_nav_2d_msgs
CATKIN_DEPENDS robot_time robot_geometry_msgs robot_protocol_msgs robot_nav_2d_msgs
DEPENDS tf3
)
include_directories(

8
src/Navigations/Cores/move_base_core/include/move_base_core/navigation.h
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@@ -18,6 +18,7 @@
#include <robot_sensor_msgs/PointCloud.h>
#include <robot_sensor_msgs/PointCloud2.h>
#include <robot_protocol_msgs/Order.h>
#include <robot_nav_2d_utils/conversions.h>
// tf
#include <tf3/buffer_core.h>
@@ -138,10 +139,7 @@ namespace robot
goal.header.stamp = robot::Time::now();
goal.pose.position.x = pose.x + offset_distance * cos(pose.theta);
goal.pose.position.y = pose.y + offset_distance * sin(pose.theta);
tf3::Quaternion q;
q.setRPY(0, 0, pose.theta);
goal.pose.orientation = tf3::toMsg(q);
goal.pose.orientation = robot_nav_2d_utils::pose2DToPose(pose).orientation;
return goal;
}
@@ -161,7 +159,7 @@ namespace robot
robot_geometry_msgs::Pose2D pose2d;
pose2d.x = pose.pose.position.x;
pose2d.y = pose.pose.position.y;
// pose2d.theta = tf2::getYaw(pose.pose.orientation);
pose2d.theta = robot_nav_2d_utils::poseStampedToPose2D(pose).pose.theta;
return offset_goal(pose2d, pose.header.frame_id, offset_distance);
}

2
src/Navigations/Cores/move_base_core/package.xml
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@@ -29,6 +29,7 @@
<build_depend>robot_geometry_msgs</build_depend>
<build_depend>robot_protocol_msgs</build_depend>
<build_depend>robot_nav_2d_msgs</build_depend>
<build_depend>robot_nav_2d_utils</build_depend>
<build_depend>robot_nav_msgs</build_depend>
<build_depend>robot_sensor_msgs</build_depend>
<build_depend>robot_map_msgs</build_depend>
@@ -38,6 +39,7 @@
<run_depend>robot_geometry_msgs</run_depend>
<run_depend>robot_protocol_msgs</run_depend>
<run_depend>robot_nav_2d_msgs</run_depend>
<run_depend>robot_nav_2d_utils</run_depend>
<run_depend>robot_nav_msgs</run_depend>
<run_depend>robot_sensor_msgs</run_depend>
<run_depend>robot_map_msgs</run_depend>