optimal & fix file cmake

config/runtime/maker_sources.yaml

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-../../../../pnkx_nav_core/config/maker_sources.yaml

config/runtime/maker_sources.yaml

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+# Compatibility allow-list for BaseNavigation::dockTo(marker, ...).
+#
+# move_base2 docking resolves `goal_frame` to an absolute pose and runs DockPlanner +
+# HybridLocalPlanner.  It does not consume the legacy per-marker PNKXDockingLocalPlanner
+# parameters (plugins, maker_goal_frame, delay, timeout, velocity, tolerance, or lookahead).
+# Keep only the marker names that the host may submit until `dockTo` is migrated to
+# declarative dock_sequences.
+maker_sources: trolley charger dock_station undock_station dock_station_2 undock_station_2
+
+# Marker có entry ở đây dùng cặp planner riêng. Marker rỗng hoặc chỉ có trong `maker_sources` mà
+# không nằm trong bảng này sẽ dùng cặp `docking` mặc định của move_base_common_params.yaml.
+docking_marker_profiles:
+  trolley:
+    global_planner: DockPlanner
+    local_planner: HybridLocalPlanner
+
+  charger:
+    global_planner: DockPlanner
+    local_planner: HybridLocalPlanner
+
+  dock_station:
+    global_planner: DockPlanner
+    local_planner: HybridLocalPlanner