concerning this tutorial: [android_ndk_pluginlib](http://wiki.ros.org/android_ndk/Tutorials/UsingPluginlib)
i set up my android robot with ros_android and everything is working so far including amcl.
But i cant get the plugins to work. The plugins i need are base_local_planner/TrajectoryPlannerROS costmap2d/inflationlayer
obstacle layer and static_layer.
Usually i would load them by setting the according Parameters in the XML and YAML files like this:
- {name: static_layer, type: 'costmap_2d::StaticLayer'}
- {name: obstacle_layer, type: 'costmap_2d::ObstacleLayer'}
- {name: inflation_layer, type: 'costmap_2d::InflationLayer'}
but with ros_android i dont have that option.
To set the parameters i use:
ParameterTree params = connectedNode.getParameterTree();
params.set("move_base_node/global_costmap/plugins/name/inflation_layer", "costmap_2d/StaticLayer");
which doesn't seem to work.
In the android.mk file i have included
LOCAL_WHOLE_STATIC_LIBRARIES := libcostmap_2d libbase_local_planner libglobal_planner
any help would be very welcome.
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