optimal

config/runtime/config

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+../../../../pnkx_nav_core/config/config

config/runtime/costmap_common_params.yaml

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+../../../../pnkx_nav_core/config/costmap_common_params.yaml

config/runtime/costmap_global_params.yaml

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+../../../../pnkx_nav_core/config/costmap_global_params.yaml

config/runtime/costmap_global_params_plugins_no_virtual_walls.yaml

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+../../../../pnkx_nav_core/config/costmap_global_params_plugins_no_virtual_walls.yaml

config/runtime/costmap_local_params.yaml

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+../../../../pnkx_nav_core/config/costmap_local_params.yaml

config/runtime/costmap_local_params_plugins_no_virtual_walls.yaml

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+../../../../pnkx_nav_core/config/costmap_local_params_plugins_no_virtual_walls.yaml

config/runtime/custom_global_params.yaml

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+../../../../pnkx_nav_core/config/custom_global_params.yaml

config/runtime/dock_global_params.yaml

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+../../../../pnkx_nav_core/config/dock_global_params.yaml

config/runtime/hybrid_local_planner_params.yaml

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+../../../../pnkx_nav_core/config/hybrid_local_planner_params.yaml

config/runtime/maker_sources.yaml

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+../../../../pnkx_nav_core/config/maker_sources.yaml

config/runtime/mission_adapters_params.yaml

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+../../../../pnkx_nav_core/config/mission_adapters_params.yaml

config/runtime/move_base_common_params.yaml

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+position_planner_name: PriestLocalPlanner #HybridLocalPlanner MPPILocalPlanner PriestLocalPlanner PNKXLocalPlanner
+docking_planner_name: PNKXDockingLocalPlanner #StanleyDockingLocalPlanner PNKXDockingLocalPlanner
+go_straight_planner_name: PNKXGoStraightLocalPlanner
+rotate_planner_name: PNKXRotateLocalPlanner
+base_local_planner: LocalPlannerAdapter
+base_global_planner: SBPLLatticePlanner
+
+PriestLocalPlanner:
+  base_local_planner: LocalPlannerAdapter
+  base_global_planner: SBPLLatticePlanner #CustomPlanner SBPLLatticePlanner
+
+PNKXDockingLocalPlanner:
+  base_local_planner: LocalPlannerAdapter
+  base_global_planner: TwoPointsPlanner
+
+PNKXGoStraightLocalPlanner:
+  base_local_planner: LocalPlannerAdapter
+  base_global_planner: TwoPointsPlanner
+
+PNKXRotateLocalPlanner:
+  base_local_planner: LocalPlannerAdapter
+  base_global_planner: TwoPointsPlanner
+
+### replanning
+controller_frequency: 30.0   # run controller at 30.0 Hz
+controller_patience: 0.0    # if the controller failed, clear obstacles and retry; after 15.0 s, abort and replan
+planner_frequency: 0.0       # don't continually replan (only when controller failed)
+planner_patience: 2.0        # if the first planning attempt failed, abort planning retries after 5.0 s...
+max_planning_retries: 0     # ... or after 10 attempts (whichever happens first)
+oscillation_timeout: -1    # abort controller and trigger recovery behaviors after 30.0 s
+oscillation_distance: 0.5
+## recovery behaviors
+#
+# Recovery của move_base cũ đã dừng: bộ behavior gen-2 (tick-based) khai ở
+# `recovery_behaviors_params.yaml` và do `recovery_core::RecoveryRegistry` nạp, không phải khoá
+# `recovery_behaviors` ở đây.
+#
+# Danh sách gen-1 đã được gỡ hẳn thay vì để lại: các entry cũ trỏ tên alias `RotateRecovery` /
+# `ClearCostmapRecovery` vào file .so gen-2, trong khi loader ở đây import theo chữ ký gen-1
+# (`robot_nav_core::RecoveryBehavior`). Boost.DLL không kiểm kiểu qua ranh giới .so, nên hai bên
+# không bao giờ gặp nhau ở compile time và lỗi chỉ hiện ra lúc chạy. Giữ lại khoá cũng làm hai file
+# config tranh nhau cùng một tên alias.
+recovery_behavior_enabled: false 
+recovery_behaviors: [       
+                      {name: aggressive_reset, type: ClearCostmapRecovery},
+                      {name: conservative_reset, type: ClearCostmapRecovery},                      
+                    ]
+
+conservative_reset:
+  reset_distance: 3.0        # clear obstacles farther away than 3.0 m
+  invert_area_to_clear: true
+
+aggressive_reset:
+  reset_distance: 3.0
+
+ClearCostmapRecovery:
+  library_path: librobot_clear_costmap_recovery
+
+MoveBase:
+  library_path: libmove_base2

config/runtime/mppi_local_planner_params.yaml

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+../../../../pnkx_nav_core/config/mppi_local_planner_params.yaml

config/runtime/mprim

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+../../../../pnkx_nav_core/config/mprim

config/runtime/pnkx_local_planner_params.yaml

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+../../../../pnkx_nav_core/config/pnkx_local_planner_params.yaml

config/runtime/priest_local_planner_params.yaml

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+../../../../pnkx_nav_core/config/priest_local_planner_params.yaml

config/runtime/recovery_behaviors_params.yaml

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+../../../../pnkx_nav_core/config/recovery_behaviors_params.yaml

config/runtime/sbpl_global_params.yaml

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+../../../../pnkx_nav_core/config/sbpl_global_params.yaml

config/runtime/stanley_local_planner_params.yaml

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+../../../../pnkx_nav_core/config/stanley_local_planner_params.yaml

config/runtime/two_points_global_params.yaml

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+../../../../pnkx_nav_core/config/two_points_global_params.yaml