Hiep update

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;

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_) 
         {