make 3 times to fully compile

robotics-upo · Dec 29, 2023 · 315f729 · 315f729
1 parent e564d96
commit 315f729
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Showing 5 changed files with 6 additions and 7 deletions.
diff --git a/include/Grid3D/grid3d.hpp b/include/Grid3D/grid3d.hpp
@@ -14,7 +14,6 @@
 #include <nav_msgs/OccupancyGrid.h>
 #include <std_msgs/Float32.h>
 #include <std_msgs/Int32MultiArray.h>
-#include <heuristic_planners/GetSemanticGrid.h>
 #include <stdio.h> 
 // PCL
 #include <pcl/point_cloud.h>
@@ -29,6 +28,7 @@
 #include <iomanip> //for std::setw, std::hex, and std::setfill
 #include <openssl/evp.h> //for all other OpenSSL function calls
 #include <openssl/sha.h> //for SHA512_DIGEST_LENGTH
+#include <heuristic_planners/GetSemanticGrid.h>
 // #include "utils/ros/ROSInterfaces.hpp"
 
 // #ifdef BUILD_VORONOI

diff --git a/launch/grid3d.launch b/launch/grid3d.launch
@@ -3,6 +3,6 @@
         <param name="world_size_x" value="212" />
         <param name="world_size_y" value="170" />
         <param name="world_size_z" value="9" />
-        <param name="resolution" value="0.2" />
+        <param name="resolution" value="0.1" />
     </node>
 </launch>
diff --git a/launch/simulator_atlas.launch b/launch/simulator_atlas.launch
@@ -21,7 +21,7 @@
     <!-- <arg name="map_name"            default="manufacturing"/> -->
     <!-- ATLAS -->
     <!-- <arg name="map_name"            default="Atlas_8_300"/> -->
-    <arg name="map_name"            default="Atlas_8_floor_1kk"/>
+    <arg name="map_name"            default="Atlas_8_300"/>
     <!-- <arg name="map_name"            default="nube_de_puntos2"/> -->
     <!-- <arg name="map_name"            default="nube_de_puntos_con_etiquetas"/> -->
     <arg name="map"                 default="$(find heuristic_planners)/resources/3dmaps/$(arg map_name).bt"/>
@@ -34,7 +34,7 @@
     <!-- <arg name="world_size_z"        default="5"/> -->
     <!-- <arg name="world_size_z"        default="2"/> manufacturing -->
     <arg name="world_size_z"        default="9"/>  <!-- 6 -->
-    <arg name="resolution"          default="0.1"/>
+    <arg name="resolution"          default="0.2"/>
 
     <arg name="inflate_map"         default="true"/>
     <arg name="inflation_size"      default="$(arg resolution)"/>

diff --git a/src/ROS/planner_ros_node.cpp b/src/ROS/planner_ros_node.cpp
@@ -34,6 +34,7 @@
 #include <heuristic_planners/GetPath.h>
 #include <heuristic_planners/SetAlgorithm.h>
 
+
 /**
  * @brief Demo Class that demonstrate how to use the algorithms classes and utils 
  * with ROS 

diff --git a/src/utils/ros/ROSInterfaces.cpp b/src/utils/ros/ROSInterfaces.cpp
@@ -135,9 +135,7 @@ namespace Planners
             auto world_size = _algorithm.getWorldSize();
             auto resolution = _algorithm.getWorldResolution();
 
-            std::cout << "Semantic Layer " << std::endl; 
-
-            for (int i = 0; i < world_size.x; i++)                                                                                                                                                         
+            std::cout << "Semantic Layer " << std::endl;                                                                                                                                                         
             for (int i = 0; i < world_size.x; i++)
             {
                 for (int j = 0; j < world_size.y; j++)