optimal & fix file cmake

test/config/move_base2_params.yaml

@@ -4,6 +4,7 @@
 
 # --- Tham số runtime, dùng cho config_validation_test ----------------------------------------
 move_base2:
+  docking_requires_marker: false
   controller_frequency: 20.0      # [Hz]
   planner_frequency: 0.0          # [Hz] 0 = chỉ lập plan khi cần
   planner_timeout: 5.0            # [s]
@@ -33,18 +34,53 @@ move_base2:
   recovery_namespace: recovery
   action_namespace: actions
   mission_namespace: mission_adapters
+  backup_global_planner: TestBackupGlobalPlanner
 
   position:
     base_global_planner: TestGlobalPlanner
     base_local_planner: TestLocalPlanner
-    xy_goal_tolerance: 0.15       # [m]
-    yaw_goal_tolerance: 0.10      # [rad]
 
   docking:
     base_global_planner: TestDockPlanner
     base_local_planner: TestLocalPlanner
-    xy_goal_tolerance: 0.02       # [m] ghép nối cần chính xác hơn nhiều
-    yaw_goal_tolerance: 0.02      # [rad]
+
+  docking_marker_profiles:
+    trolley:
+      global_planner: TestTrolleyDockPlanner
+      local_planner: TestTrolleyDockLocalPlanner
+
+# --- Schema runtime root-profile ---------------------------------------------------------------
+# Đây là schema dùng bởi move_base_common_params.yaml của move_base2. Không có adapter gen-1.
+root_profiles:
+  controller_frequency: 30.0
+  planner_frequency: 0.0
+  planner_patience: 2.0
+  controller_patience: 0.033333333
+  max_planning_retries: 0
+  recovery_behavior_enabled: true
+  docking_requires_marker: false
+  backup_global_planner: TestBackupGlobalPlanner
+
+  position:
+    global_planner: TestGlobalPlanner
+    local_planner: TestLocalPlanner
+
+  docking:
+    global_planner: TestDockPlanner
+    local_planner: TestLocalPlanner
+
+  docking_marker_profiles:
+    trolley:
+      global_planner: TestTrolleyDockPlanner
+      local_planner: TestTrolleyDockLocalPlanner
+
+  go_straight:
+    global_planner: TestStraightPlanner
+    local_planner: TestStraightLocalPlanner
+
+  rotate:
+    global_planner: TestRotatePlanner
+    local_planner: TestRotateLocalPlanner
 
 # --- Cấu hình sai, dùng cho test đường lỗi -----------------------------------------------------
 move_base2_bad_frequency:
@@ -77,6 +113,11 @@ recovery:
     - {name: wait_short, type: WaitRecovery}
     - {name: wait_long,  type: WaitRecovery}
 
+  routes:
+    planning_failed:    [wait_short]
+    controlling_failed: [wait_long, wait_short]
+    oscillation:        [wait_long]
+
   wait_short:
     wait_duration: 1.0            # [s]
   wait_long:
@@ -90,9 +131,40 @@ recovery_missing_library:
   behaviors:
     - {name: ghost, type: GhostRecovery}
 
+# Mô phỏng config được commit trước plugin DetourPathRecovery. `configure()` báo partial failure,
+# nhưng configureRoutes() phải bỏ detour_path thay vì đưa index không tồn tại sang StateMachine.
+recovery_missing_detour:
+  behaviors:
+    - {name: wait_short,  type: WaitRecovery}
+    - {name: detour_path, type: DetourPathRecovery}
+
+  routes:
+    planning_failed:    [wait_short]
+    controlling_failed: [detour_path, wait_short]
+    oscillation:        [detour_path, wait_short]
+
+# --- Recovery THẬT cho kịch bản có vật cản (RecoveryScenarioDriver) ----------------------------
+#
+# Namespace riêng, KHÔNG dùng chung với `recovery` ở trên: hai bộ test hỏi hai câu khác nhau. Bộ kia
+# kiểm chỗ nối RecoveryPort <-> recovery_core bằng behavior họ kNone; bộ này kiểm hành vi an toàn
+# THẬT của BackUpRecovery trên lưới có vật cản.
+recovery_scenario:
+  behaviors:
+    - {name: back_up, type: BackUpRecovery}
+
+  back_up:
+    backup_distance: 0.50       # [m] quãng lùi mong muốn
+    backup_distance_max: 1.0    # [m] trần cứng
+    linear_speed: 0.15          # [m/s] độ lớn; dấu âm do plugin đặt (lùi)
+    acc_lim_x: 1.0              # [m/s^2]
+    timeout: 15.0               # [s]
+
 WaitRecovery:
   library_path: librecovery_core_wait_recovery
 
+BackUpRecovery:
+  library_path: librecovery_core_back_up_recovery
+
 # GhostRecovery cố ý KHÔNG khai library_path.
 
 # --- Action handler cho action_runner_test -----------------------------------------------------
@@ -136,7 +208,7 @@ actions_missing_library:
     - {name: ghost, type: GhostActionHandler}
 
 NoopActionHandler:
-  library_path: libmove_base2_noop_action_handler
+  library_path: libaction_core_noop_action_handler
 
 # --- Global planner giả cho planner_runner_test -------------------------------------------------
 #
@@ -167,6 +239,14 @@ TestControllerThrowing:
   library_path: libmove_base2_test_local_planner
 TestControllerRefusesLimits:
   library_path: libmove_base2_test_local_planner
+TestControllerMarkerProbe:
+  library_path: libmove_base2_test_local_planner
+TestControllerFootprintProbe:
+  library_path: libmove_base2_test_local_planner
+
+# Danh sách marker cho test đường docking (setDockingMarker) — format chuỗi cách nhau bằng space,
+# đúng như maker_sources.yaml production.
+maker_sources: dock_a dock_b
 
 # TestControllerMissing cố ý KHÔNG khai library_path.
 
@@ -181,9 +261,6 @@ legacy_move_base:
   max_planning_retries: 0
   recovery_behavior_enabled: true
 
-  xy_goal_tolerance: 0.25         # [m] default chung cho cả bốn profile
-  yaw_goal_tolerance: 0.30        # [rad]
-
   base_global_planner: SBPLLatticePlanner
   base_local_planner: LocalPlannerAdapter   # phải bị BỎ QUA có log