DuongTD/recovery_core
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temporary storage 7/9/2026 20:41

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duongtd
2026-07-09 20:41:35 +07:00
parent e9394434ba
commit 17088a227d
12 changed files with 82 additions and 107 deletions
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README.md
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@@ -20,11 +20,11 @@ behavior->configure(name, ctx); // 1 lần: ctx = {tf, global_path, glo
RecoveryGoal goal; goal.angle = 1.57; // mục tiêu RUNTIME: "quay 90 độ ngay lượt này"
RecoveryResult r = behavior->start(goal);
while (r.status == RecoveryStatus::kRunning)
r = behavior->update(dt); // publish r.command; đọc r.progress / r.remaining / r.message
r = behavior->update(); // publish r.command; đọc r.progress / r.remaining / r.message
```
API công khai `configure/start/update/cancel` là non-virtual (base lo guard/timeout/elapsed/cancel);
plugin chỉ override hook `onConfigure()/onStart(goal)/onUpdate(dt)`.
API công khai `configure/start/update/cancel` là non-virtual (base lo guard vòng đời/cancel);
plugin chỉ override hook `onConfigure()/onStart(goal)/onUpdate()`.
## Ba họ recovery
@@ -32,7 +32,7 @@ plugin chỉ override hook `onConfigure()/onStart(goal)/onUpdate(dt)`.
|----|-------|--------|-----------|
| A | regen path (đường thoát) | `robot_nav_msgs::Path` | `onUpdate()` one-shot |
| B | clear costmap | không có (chỉ status) | `onUpdate()` one-shot |
| C | rotation / backup | `robot_geometry_msgs::Twist` mỗi cycle | `onStart(goal)` + `onUpdate(dt)` |
| C | rotation / backup | `robot_geometry_msgs::Twist` mỗi cycle | `onStart(goal)` + `onUpdate()` |
Cả 3 chia sẻ một `RecoveryResult` hợp nhất mang cờ `output_type` + rich feedback
(`progress`/`remaining`/`elapsed`/`message`).