optimal

test/config/move_base2_params.yaml

@@ -169,3 +169,27 @@ TestControllerRefusesLimits:
   library_path: libmove_base2_test_local_planner
 
 # TestControllerMissing cố ý KHÔNG khai library_path.
+
+# --- Schema gen-1 (move_base_common_params.yaml) cho test đường legacy --------------------------
+legacy_move_base:
+  controller_frequency: 20.0      # [Hz]
+  planner_frequency: 0.0          # [Hz]
+  planner_patience: 0.0           # gen-1: "fail -> recovery NGAY", KHÔNG phải "tắt"
+  controller_patience: 15.0       # [s]
+  oscillation_timeout: 0.0        # [s]
+  oscillation_distance: 0.5       # [m]
+  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
+
+  position_planner_name: HybridLocalPlanner
+  docking_planner_name: DockLocalPlanner
+
+  # Global planner riêng của profile nằm trong namespace mang tên chính planner đó.
+  DockLocalPlanner:
+    base_global_planner: DockPlanner