开源代码，魔改的支持数据库动态虚拟墙，支持虚拟墙动态刷新，支持代码中操作虚拟墙。

.catkin_workspace

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+# This file currently only serves to mark the location of a catkin workspace for tool integration

catkit_make_source.sh

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+#!/bin/bash
+#sukai 2022-04-21
+# source catkit_make_source.sh
+#catkin_make --pkg yocs_msgs
+catkin_make --pkg disinfect_msg  
+catkin_make --pkg disinfect_srvs
+catkin_make
+if [[ $? != 0 ]]; then
+echo 'catkin_make :error'
+else
+echo 'catkin_make :ok'
+source devel/setup.bash
+echo 'source devel/setup.bash :ok'
+fi

readme.md

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+
+#### 虚拟墙使用介绍
+
+基于costmap_prohibition_layer 
+git clone https://github.com/sukai33/costmap_prohibition_layer.git
+git clone https://gitee.com/yongwangzhiqiankai/costmap_prohibition_layer.git
+开源代码，魔改的支持数据库动态虚拟墙，支持虚拟墙动态刷新，支持代码中操作虚拟墙。
+
+#### 软件架构
+
+开发者 苏凯
+欢迎交流：
+    csdn博客：https://blog.csdn.net/qq_15204179?type=blog
+    B站 再遇咖啡： https://b23.tv/Yvt8noQ
+日期：2022-04-21
+系统：ubuntu20.04
+ros平台：noetic
+开发工具 clion
+项目路径：~/workspace/xuniqiang
+数据库文件路径：
+        ~/workspace/xuniqiang/db/TABLE_OR_ROOM_POSE.db
+
+-------------------------------------------------------------------------
+
+#### 安装教程
+
+1.  直接下载到你的工作空间上编译
+    1.0 把此工程与movebase项目放一起
+    1.1 按顺序编译
+	catkin_make --pkg disinfect_msg 
+	catkin_make --pkg disinfect_srvs
+	catkin_make
+    1.2 或者一条命令直接编译
+        source catkit_make_source.sh
+
+2.  设置你的mve_base.launch文件
+
+        <launch>
+	  <!-- move_base -->
+	  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
+            <!-- 加这两行没有实际意义，因为点位是从数据库加载的。虚拟墙插件中可能加载yaml这部份代码没删，不加载prohibition_areas.yaml可能会报错。 -->
+	    <rosparam file="$(find slamproject)/config/prohibition_areas.yaml" command="load" ns="global_costmap/costmap_prohibition_layer" />
+            <rosparam file="$(find slamproject)/config/prohibition_areas.yaml" command="load" ns="local_costmap/costmap_prohibition_layer" />
+	  </node>
+	</launch>
+3.  分别在global_costmap 和local_costmap 的文件中 plugins 下添加
+    global_costmap_params.yaml 中：
+	plugins:
+	  - {name: costmap_prohibition_layer, type: "costmap_prohibition_layer_namespace::CostmapProhibitionLayer"}
+    local_costmap_params.yaml 中：
+	plugins:
+	  - {name: costmap_prohibition_layer, type: "costmap_prohibition_layer_namespace::CostmapProhibitionLayer"}
+
+#### 测试启动使用介绍：
+
+    0. roscore
+
+    1.创建数据库 [数据库只需要创建一次就可以了]
+      rosrun slamproject currencyChassis_CreateSqlDatabaseMain_node
+      
+    2.数据库调用 [启动导航前优先启动]
+      rosrun slamproject currencyChassis_sqlDatabaseMain_node
+      
+    3.虚拟墙qt界面编辑 [qt界面增加虚拟墙数据只支持 line，具体使用看图片]
+      rosrun slamproject currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node 
+
+    4.刷新虚拟墙 【当数据库更改虚拟墙数据后需要发送topic重新加载虚拟墙】
+	    4.1 引入头文件
+	    #include <std_msgs/String.h>
+	    4.2创建 Publisher
+	    ros::Publisher   costmapProhibitionControl_pub = node.advertise<std_msgs::String>("/costmapProhibitionControl", 10);
+	    4.3发送数据
+	     std_msgs::String data;
+	     data.data="refreshCostMapPlayer";
+	     costmapProhibitionControl_pub.publish(data);
+
+
+
+#### 代码中使用介绍：
+
+
+       1.查询虚拟墙数据
+            1.1 引入头文件
+               #include <disinfect_srvs/testInfo_srvs.h>
+               
+            1.2 数据库操作
+              ros::ServiceClient  SqlQueryClient = nh.serviceClient<disinfect_srvs::testInfo_srvs>("/QSqlQuery");
+                
+                
+            1.3【默认条件查询 MerchantNumber=EMPTY MerchantName=EMPTY RobotNumber=EMPTY MapName=EMPTY Robotfloor=EMPTY，
+                  需要改条件的话自己去数据库节点src/currencyChassis/currencyChassis_sqlDatabaseMain.cpp改源码，类中搜索 queryAllFromTable_CostMapPlayer 】
+		disinfect_srvs::testInfo_srvs table_CostMapLayerService;
+		table_CostMapLayerService.request.request_type="queryAllFromTable_CostMapPlayer";
+		SqlQueryClient.call(table_CostMapLayerService);
+
+		for (int i = 0; i <table_CostMapLayerService.response.result_Table_CostMapLayers.size() ; ++i) {
+
+		 if(table_CostMapLayerService.response.result_Table_CostMapLayers[i].FigureType=="line"){//线
+		      
+		      string ax= table_CostMapLayerService.response.result_Table_CostMapLayers[i].POINT_A_X;
+		      string ay= table_CostMapLayerService.response.result_Table_CostMapLayers[i].POINT_A_Y;
+	  
+		      string bx=  table_CostMapLayerService.response.result_Table_CostMapLayers[i].POINT_B_X;
+		      string by= table_CostMapLayerService.response.result_Table_CostMapLayers[i].POINT_B_Y;
+		      
+
+		   }
+                }
+      
+      2.通过id查询数据
+            disinfect_srvs::testInfo_srvs service;
+            service.request.request_type = "queryByIdFromTable_CostMapPlayer";//虚拟墙所有数据
+            service.request.request_Table_CostMapLayer.Id=id.toInt();
+            SqlQueryClient.call(service);
+      
+       3.通过id删除数据
+
+                disinfect_srvs::testInfo_srvs service;
+                service.request.request_type="deleteTaskPOSEFromTABLE_CostMapPlayer";//删除数据 ById
+                service.request.request_Table_CostMapLayer.Id=id.toInt();
+                SqlQueryClient.call(service);
+       4.通过名字删除数据
+                disinfect_srvs::testInfo_srvs service;
+                service.request.request_type="deleteTaskPOSEFromTABLE_CostMapPlayerByFigureName";//删除数据 ByFigureName
+                service.request.request_Table_CostMapLayer.FigureName=figureName.toStdString();
+                SqlQueryClient.call(service);
+                
+       
+       2.增加数据
+
+                disinfect_srvs::testInfo_srvs service;
+                service.request.request_type="saveTASKFromTABLE_CostMapPlayer";//读取数据库最大的一个id号
+                service.request.request_Table_CostMapLayer.FigureType=figureType.toStdString();//
+                service.request.request_Table_CostMapLayer.FigureName=figureName.toStdString();//
+                service.request.request_Table_CostMapLayer.MerchantNumber=merchantNumber.toStdString(); //用EMPTY代替
+                service.request.request_Table_CostMapLayer.MerchantName=merchantName.toStdString();//用EMPTY代替
+                service.request.request_Table_CostMapLayer.RobotNumber=robotNumber.toStdString();//用EMPTY代替
+                service.request.request_Table_CostMapLayer.MapName=mapName.toStdString(); //用EMPTY代替
+                service.request.request_Table_CostMapLayer.Robotfloor=robotfloor.toStdString(); //用EMPTY代替
+                service.request.request_Table_CostMapLayer.POINT_A_X=point_A_X.toStdString();//
+                service.request.request_Table_CostMapLayer.POINT_A_Y=point_A_Y.toStdString(); //
+                service.request.request_Table_CostMapLayer.POINT_B_X=point_B_X.toStdString();//
+                service.request.request_Table_CostMapLayer.POINT_B_Y=point_B_Y.toStdString();//
+                service.request.request_Table_CostMapLayer.POINT_C_X=point_C_X.toStdString(); //
+                service.request.request_Table_CostMapLayer.POINT_C_Y=point_C_Y.toStdString(); //
+                service.request.request_Table_CostMapLayer.POINT_D_X=point_D_X.toStdString(); //
+                service.request.request_Table_CostMapLayer.POINT_D_Y=point_D_Y.toStdString(); //
+                SqlQueryClient.call(service);
+       
+       3.更新数据
+
+                disinfect_srvs::testInfo_srvs service;
+                service.request.request_type="updateAllByIdFromTable_CostMapPlayer";
+                service.request.request_Table_CostMapLayer.Id=id.toInt();
+                service.request.request_Table_CostMapLayer.FigureType=figureType.toStdString();//
+                service.request.request_Table_CostMapLayer.FigureName=figureName.toStdString();//
+                service.request.request_Table_CostMapLayer.MerchantNumber=merchantNumber.toStdString(); //用EMPTY代替
+                service.request.request_Table_CostMapLayer.MerchantName=merchantName.toStdString();//用EMPTY代替
+                service.request.request_Table_CostMapLayer.RobotNumber=robotNumber.toStdString();//用EMPTY代替
+                service.request.request_Table_CostMapLayer.MapName=mapName.toStdString(); // 用EMPTY代替
+                service.request.request_Table_CostMapLayer.Robotfloor=robotfloor.toStdString(); //
+                service.request.request_Table_CostMapLayer.POINT_A_X=point_A_X.toStdString();//
+                service.request.request_Table_CostMapLayer.POINT_A_Y=point_A_Y.toStdString(); //
+                service.request.request_Table_CostMapLayer.POINT_B_X=point_B_X.toStdString();//
+                service.request.request_Table_CostMapLayer.POINT_B_Y=point_B_Y.toStdString();//
+                service.request.request_Table_CostMapLayer.POINT_C_X=point_C_X.toStdString(); //
+                service.request.request_Table_CostMapLayer.POINT_C_Y=point_C_Y.toStdString(); //
+                service.request.request_Table_CostMapLayer.POINT_D_X=point_D_X.toStdString(); //
+                service.request.request_Table_CostMapLayer.POINT_D_Y=point_D_Y.toStdString(); //
+
+                SqlQueryClient.call(service);
+       
+       
+       4.其它接口看 currencyChassis/currencyChassis_sqlDatabaseMain.cpp 源码
+       
+       
+       
+       5.刷新虚拟墙 【当数据库更改虚拟墙数据后需要发送topic重新加载虚拟墙】
+	    5.1 引入头文件
+	    #include <std_msgs/String.h>
+	    5.2创建 Publisher
+	    ros::Publisher   costmapProhibitionControl_pub = node.advertise<std_msgs::String>("/costmapProhibitionControl", 10);
+	    5.3发送数据
+	     std_msgs::String data;
+	     data.data="refreshCostMapPlayer";
+	     costmapProhibitionControl_pub.publish(data);
+       
+       
+       
+       
+#### 项目实战通过 turtlebot3   仿真运行
+    1.首先确定数据库是否存在，不存在就创建
+      1.1 roscore
+      1.2 创建数据库 [数据库只需要创建一次就可以了]
+         rosrun slamproject currencyChassis_CreateSqlDatabaseMain_node
+    2.启动数据库 [启动导航前优先启动]
+      rosrun slamproject currencyChassis_sqlDatabaseMain_node
+
+    3.启动turtlebot3
+      roslaunch turtlebot3_gazebo turtlebot3_house.launch
+      roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=/home/iimt/map.yaml
+    4.启动虚拟墙编辑器，取2点，录入数据 [qt界面增加虚拟墙数据只支持 line，具体使用看图片]
+      rosrun slamproject currencyChassis_KSDemoDlgTABLE_COSTMAPLAYERMain_node 
+    5.启动rqt_publisher , 选择topic名字 /costmapProhibitionControl 发送 "refreshCostMapPlayer" 重新加载数据
+       rosrun rqt_publisher rqt_publisher
+       
+       
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+       
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+        
+        
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+

src/costmap_prohibition_layer/.gitignore

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+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
+/.idea/
+/cmake-build-debug/