From 315f729def2fb0d82571ff61c75fad0d999e30f4 Mon Sep 17 00:00:00 2001
From: root <smarnav2904@gmailc.com>
Date: Fri, 29 Dec 2023 13:53:55 +0000
Subject: [PATCH] make 3 times to fully compile

---
 include/Grid3D/grid3d.hpp       | 2 +-
 launch/grid3d.launch            | 2 +-
 launch/simulator_atlas.launch   | 4 ++--
 src/ROS/planner_ros_node.cpp    | 1 +
 src/utils/ros/ROSInterfaces.cpp | 4 +---
 5 files changed, 6 insertions(+), 7 deletions(-)

diff --git a/include/Grid3D/grid3d.hpp b/include/Grid3D/grid3d.hpp
index 72730fe..2231fa4 100755
--- 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
index f0fd0f1..28760c5 100755
--- 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>
\ No newline at end of file
diff --git a/launch/simulator_atlas.launch b/launch/simulator_atlas.launch
index 9ee70c0..1cd3ea5 100755
--- 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
index e8b7e05..177b6ec 100755
--- 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
index 194af31..5645131 100755
--- 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++)