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Voxel layer from costmap_2d package takes into account robot z position

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Prescillia
2019-11-05 15:37:49 -05:00
parent 3282b7b946
commit 420d7403dd
4 changed files with 701 additions and 1 deletions
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CMakeLists.txt
+5 -1
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@@ -129,7 +129,10 @@ generate_dynamic_reconfigure_options(cfg/Camera.cfg)
SET(optional_dependencies "")
IF(costmap_2d_FOUND)
SET(optional_dependencies ${optional_dependencies} costmap_2d)
SET(optional_dependencies ${optional_dependencies} costmap_2d)
IF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
ADD_DEFINITIONS("-DCOSTMAP_2D_POINTCLOUD2")
ENDIF(${costmap_2d_VERSION_MAJOR} GREATER 1 OR ${costmap_2d_VERSION_MINOR} GREATER 15)
ENDIF(costmap_2d_FOUND)
IF(octomap_msgs_FOUND)
SET(optional_dependencies ${optional_dependencies} octomap_msgs)
@@ -230,6 +233,7 @@ SET(Libraries
)
SET(rtabmap_plugins_lib_src
src/costmap_2d/static_layer.cpp
src/costmap_2d/voxel_layer.cpp
${rtabmap_plugins_lib_src}
)
ENDIF(costmap_2d_FOUND)