fix tebplanner

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/homotopy_class_planner.h

@@ -54,6 +54,7 @@
 #include <std_msgs/msg/color_rgba.hpp>
 
 #include <rclcpp/rclcpp.hpp>
+#include <nav2_util/lifecycle_node.hpp>
 
 #include "teb_local_planner/planner_interface.h"
 #include "teb_local_planner/teb_config.h"

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/include/teb_local_planner/optimal_planner.h

@@ -41,6 +41,7 @@
 
 #include <math.h>
 
+#include <nav2_util/lifecycle_node.hpp>
 
 // teb stuff
 #include "teb_local_planner/teb_config.h"
@@ -130,12 +131,12 @@ public:
    */
   TebOptimalPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles = NULL,
                     TebVisualizationPtr visual = TebVisualizationPtr(), const ViaPointContainer* via_points = NULL);
-  
+
   /**
    * @brief Destruct the optimal planner.
    */
   virtual ~TebOptimalPlanner();
-  
+
   /**
     * @brief Initializes the optimal planner
     * @param node Shared pointer for rclcpp::Node

src/rm_nav/rm_navigation/teb_local_planner/teb_local_planner/src/optimal_planner.cpp

@@ -64,11 +64,11 @@ namespace teb_local_planner
 
 TebOptimalPlanner::TebOptimalPlanner() : cfg_(nullptr), obstacles_(NULL), via_points_(NULL), cost_(HUGE_VAL), prefer_rotdir_(RotType::none),
                                          initialized_(false), optimized_(false)
-{    
+{
 }
-  
+
 TebOptimalPlanner::TebOptimalPlanner(nav2_util::LifecycleNode::SharedPtr node, const TebConfig& cfg, ObstContainer* obstacles, TebVisualizationPtr visual, const ViaPointContainer* via_points)
-{    
+{
   initialize(node, cfg, obstacles, visual, via_points);
 }
 
@@ -76,7 +76,7 @@ TebOptimalPlanner::~TebOptimalPlanner()
 {
   clearGraph();
   // free dynamically allocated memory
-  //if (optimizer_) 
+  //if (optimizer_)
   //  g2o::Factory::destroy();
   //g2o::OptimizationAlgorithmFactory::destroy();
   //g2o::HyperGraphActionLibrary::destroy();