From b5a1b7b6d8367b5812b32f2ca51bbed6e2a4c99a Mon Sep 17 00:00:00 2001
From: HiepLM <hiepleminh01@gmail.com>
Date: Tue, 30 Dec 2025 10:20:42 +0700
Subject: [PATCH] Hiep update

---
 CMakeLists.txt                      | 8 ++++----
 include/dock_planner/dock_calc.h    | 8 ++++----
 include/dock_planner/dock_planner.h | 8 ++++----
 src/dock_calc.cpp                   | 2 +-
 src/dock_planner.cpp                | 4 ++--
 5 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 44b9a16..308700b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,10 +47,10 @@ target_link_libraries(dock_planner
     robot_visualization_msgs
     robot_nav_msgs
     tf3
-    tf3_geometry_msgs
+    robot_tf3_geometry_msgs
     robot_time
     data_convert
-    costmap_2d
+    robot_costmap_2d
     nav_core
     robot_cpp
     robot_nav_2d_utils
@@ -73,8 +73,8 @@ install(TARGETS dock_planner
   INCLUDES DESTINATION include # Cài đặt include
 )
 
-# --- Xuất export set costmap_2dTargets thành file CMake module ---
-# --- Tạo file lib/cmake/dock_planner/costmap_2dTargets.cmake ---
+# --- Xuất export set robot_costmap_2dTargets thành file CMake module ---
+# --- Tạo file lib/cmake/dock_planner/robot_costmap_2dTargets.cmake ---
 # --- File này chứa cấu hình giúp project khác có thể dùng ---
 # --- Find_package(dock_planner REQUIRED) ---
 # --- Target_link_libraries(my_app PRIVATE dock_planner::dock_planner) ---
diff --git a/include/dock_planner/dock_calc.h b/include/dock_planner/dock_calc.h
index 077d913..b474ad3 100644
--- a/include/dock_planner/dock_calc.h
+++ b/include/dock_planner/dock_calc.h
@@ -8,9 +8,9 @@
 #include <robot_nav_msgs/OccupancyGrid.h>
 #include <robot_nav_msgs/GetPlan.h>
 
-#include <costmap_2d/costmap_2d_robot.h>
-#include <costmap_2d/costmap_2d.h>
-#include <costmap_2d/inflation_layer.h>
+#include <robot_costmap_2d/costmap_2d_robot.h>
+#include <robot_costmap_2d/costmap_2d.h>
+#include <robot_costmap_2d/inflation_layer.h>
 
 #include <tf3/LinearMath/Quaternion.h>
 
@@ -120,7 +120,7 @@ namespace dock_planner
 
     public:
         //Params
-        costmap_2d::Costmap2D* costmap_;
+        robot_costmap_2d::Costmap2D* costmap_;
 
         int cost_threshold_;     // Threshold for obstacle detection
         double safety_distance_;    // Safety distance from obstacles
diff --git a/include/dock_planner/dock_planner.h b/include/dock_planner/dock_planner.h
index e59fa60..1721c3b 100644
--- a/include/dock_planner/dock_planner.h
+++ b/include/dock_planner/dock_planner.h
@@ -11,9 +11,9 @@ namespace dock_planner {
     {
     public:
         DockPlanner();
-        DockPlanner(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot);
+        DockPlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot);
         
-        bool initialize(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot);
+        bool initialize(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot);
         
         bool makePlan(const robot_geometry_msgs::PoseStamped& start,
                     const robot_geometry_msgs::PoseStamped& goal,
@@ -21,8 +21,8 @@ namespace dock_planner {
 
     private:
         // Core components
-        costmap_2d::Costmap2DROBOT* costmap_robot_;
-        costmap_2d::Costmap2D* costmap_;
+        robot_costmap_2d::Costmap2DROBOT* costmap_robot_;
+        robot_costmap_2d::Costmap2D* costmap_;
         bool initialized_;
         std::string frame_id_;
         // ros::Publisher plan_pub_;
diff --git a/src/dock_calc.cpp b/src/dock_calc.cpp
index 6d597ea..8d16450 100644
--- a/src/dock_calc.cpp
+++ b/src/dock_calc.cpp
@@ -728,7 +728,7 @@ namespace dock_planner
         //         check_y >= 0 && check_y < costmap_->getSizeInCellsY()) 
         //     {
         //         unsigned char cost = costmap_->getCost(check_x, check_y);
-        //         if (cost >= costmap_2d::LETHAL_OBSTACLE) 
+        //         if (cost >= robot_costmap_2d::LETHAL_OBSTACLE) 
         //         {
         //             double dx = pose.position.x - space_footprint[i].x;
         //             double dy = pose.position.y - space_footprint[i].y;
diff --git a/src/dock_planner.cpp b/src/dock_planner.cpp
index ae599d5..8a5e304 100644
--- a/src/dock_planner.cpp
+++ b/src/dock_planner.cpp
@@ -21,7 +21,7 @@ namespace dock_planner
      * @param costmap_robot Pointer tới costmap ROS wrapper
      * Tự động gọi initialize() nếu được cung cấp costmap
      */
-    DockPlanner::DockPlanner(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot) 
+    DockPlanner::DockPlanner(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot) 
         : costmap_robot_(nullptr), 
         costmap_(nullptr), 
         initialized_(false), 
@@ -43,7 +43,7 @@ namespace dock_planner
      * - Load parameters từ ROS parameter server
      * - Đánh dấu trạng thái initialized
      */
-    bool DockPlanner::initialize(std::string name, costmap_2d::Costmap2DROBOT* costmap_robot) 
+    bool DockPlanner::initialize(std::string name, robot_costmap_2d::Costmap2DROBOT* costmap_robot) 
     {
         if (!initialized_) 
         {