optimal & fix file cmake

CMakeLists.txt

@@ -55,8 +55,10 @@ if(NOT BUILDING_WITH_CATKIN)
     "${CMAKE_CURRENT_SOURCE_DIR}/../../.."
   )
 
+  # Test/recovery_core -> Test -> AMR_T800 -> src -> <workspace>. Bốn cấp, không phải bảy: bảy là
+  # di sản từ vị trí cũ của gói và trỏ vào một thư mục không tồn tại.
   set(WORKSPACE_DEVEL_LIB_DIR
-    "${CMAKE_CURRENT_SOURCE_DIR}/../../../../../../../devel/lib"
+    "${CMAKE_CURRENT_SOURCE_DIR}/../../../../devel/lib"
   )
 
 
@@ -135,6 +137,8 @@ if(NOT BUILDING_WITH_CATKIN)
 # ========================================================
 else()
 
+  # nav_test_harness chỉ dùng cho test (fake clock/costmap/pose/collision), nên nó KHÔNG nằm trong
+  # catkin_package(CATKIN_DEPENDS) — consumer của recovery_core không phải kéo theo nó.
   find_package(catkin REQUIRED COMPONENTS
     robot_costmap_2d
     robot_cpp
@@ -142,6 +146,7 @@ else()
     robot_geometry_msgs
     robot_nav_msgs
     robot_xmlrpcpp
+    nav_test_harness
   )
 
 
@@ -161,10 +166,10 @@ else()
 
     LIBRARIES
       recovery_core
+      recovery_core_wait_recovery
       recovery_core_clear_costmap_recovery
       recovery_core_rotate_recovery
       recovery_core_back_up_recovery
-      recovery_core_regen_path_recovery
 
     CATKIN_DEPENDS
       robot_costmap_2d
@@ -181,7 +186,11 @@ else()
 
   include_directories(
     include
+  )
 
+  # Header của dependency vào dạng SYSTEM: gói này build với -Wall -Wextra, mà robot_cpp/costmap_2d
+  # sinh hàng trăm warning riêng của chúng — để lẫn vào thì warning của chính gói này vô hình.
+  include_directories(SYSTEM
     ${catkin_INCLUDE_DIRS}
     ${Boost_INCLUDE_DIRS}
     ${TF3_INCLUDE_DIR}
@@ -196,8 +205,16 @@ endif()
 add_library(recovery_core SHARED
   src/recovery_types.cpp
   src/recovery_behavior.cpp
+  src/recovery_registry.cpp
+
+  # Adapter nối cổng của contract vào costmap thật. Nằm trong lib chính (không phải plugin) vì
+  # host dựng chúng trực tiếp, không nạp qua Boost.DLL.
+  adapters/costmap_pose_provider.cpp
+  adapters/costmap_collision_checker.cpp
 )
 
+target_compile_options(recovery_core PRIVATE -Wall -Wextra)
+
 
 # ========================================================
 # Core library - Catkin
@@ -306,6 +323,9 @@ function(add_recovery_core_plugin target source)
   )
 
 
+  target_compile_options(${target} PRIVATE -Wall -Wextra)
+
+
   add_dependencies(
     ${target}
     recovery_core
@@ -427,6 +447,13 @@ endfunction()
 # ========================================================
 # Recovery plugins
 # ========================================================
+# Bộ recovery DEFAULT của gói. Thứ tự chạy do YAML quyết định (mục 3.4 của NAV_REFACTOR_PLAN.md),
+# không phải thứ tự khai báo ở đây.
+add_recovery_core_plugin(
+  recovery_core_wait_recovery
+  plugins/wait_recovery.cpp
+)
+
 add_recovery_core_plugin(
   recovery_core_clear_costmap_recovery
   plugins/clear_costmap_recovery.cpp
@@ -442,11 +469,6 @@ add_recovery_core_plugin(
   plugins/back_up_recovery.cpp
 )
 
-add_recovery_core_plugin(
-  recovery_core_regen_path_recovery
-  plugins/regen_path_recovery.cpp
-)
-
 
 # ========================================================
 # Install - Catkin
@@ -547,10 +569,10 @@ else()
   message(STATUS "C++ Standard: ${CMAKE_CXX_STANDARD}")
   message(STATUS "Libraries:")
   message(STATUS "  recovery_core")
+  message(STATUS "  recovery_core_wait_recovery")
   message(STATUS "  recovery_core_clear_costmap_recovery")
   message(STATUS "  recovery_core_rotate_recovery")
   message(STATUS "  recovery_core_back_up_recovery")
-  message(STATUS "  recovery_core_regen_path_recovery")
   message(STATUS "Dependencies:")
   message(STATUS "  robot_costmap_2d")
   message(STATUS "  robot_cpp")
@@ -569,17 +591,66 @@ endif()
 # ========================================================
 # Tests
 # ========================================================
-option(
+# Đăng ký qua catkin_add_gtest để `catkin_make run_tests` / `ctest` bắt được, đồng thời vẫn chạy
-  BUILD_RECOVERY_CORE_TESTS
+# trực tiếp được binary trong devel/lib/recovery_core.
-  "Build recovery_core tests"
+if(CATKIN_ENABLE_TESTING AND BUILDING_WITH_CATKIN)
-  ON
-)
 
-
+  if(NOT COMMAND catkin_add_gtest)
-if(BUILD_RECOVERY_CORE_TESTS)
+    message(FATAL_ERROR "catkin_add_gtest NOT FOUND")
-
-  if(EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/test/CMakeLists.txt)
-    add_subdirectory(test)
   endif()
 
+  set(RECOVERY_CORE_TESTS
+    recovery_lifecycle_test
+    output_kind_test
+    goal_semantics_test
+    timeout_test
+    wait_recovery_test
+    backup_safety_test
+    pose_progress_test
+    rotate_safety_test
+    registry_test
+  )
+
+  foreach(test_name ${RECOVERY_CORE_TESTS})
+    catkin_add_gtest(${test_name} test/${test_name}.cpp)
+
+    if(TARGET ${test_name})
+      set_target_properties(${test_name} PROPERTIES EXCLUDE_FROM_ALL FALSE)
+
+      target_compile_options(${test_name} PRIVATE -Wall -Wextra)
+
+      target_include_directories(${test_name}
+        PRIVATE
+          ${CMAKE_CURRENT_SOURCE_DIR}/include
+          ${CMAKE_CURRENT_SOURCE_DIR}/test
+      )
+
+      target_include_directories(${test_name} SYSTEM
+        PRIVATE
+          ${catkin_INCLUDE_DIRS}
+      )
+
+      # catkin_add_gtest dùng target_link_libraries dạng plain, nên phần bổ sung cũng phải plain.
+      # Plugin KHÔNG được link thẳng: chúng chỉ export alias Boost.DLL và được nạp qua
+      # RecoveryRegistry, đúng đường mà runtime đi.
+      target_link_libraries(${test_name}
+        recovery_core
+        ${catkin_LIBRARIES}
+        ${Boost_LIBRARIES}
+        yaml-cpp
+        pthread
+        ${CMAKE_DL_LIBS}
+      )
+
+      add_dependencies(${test_name} ${RECOVERY_CORE_PLUGIN_TARGETS})
+
+      # Đường tới cây config test và thư mục .so, để binary tự trỏ đúng chỗ khi chạy qua ctest
+      # (ctest không mang theo PNKX_NAV_CORE_CONFIG_DIR hay LD_LIBRARY_PATH của shell).
+      target_compile_definitions(${test_name} PRIVATE
+        RECOVERY_CORE_TEST_CONFIG_DIR="${CMAKE_CURRENT_SOURCE_DIR}/test/config"
+        RECOVERY_CORE_TEST_LIBRARY_DIR="${CATKIN_DEVEL_PREFIX}/lib"
+      )
+    endif()
+  endforeach()
+
 endif()

PLAN.md

@@ -1,430 +1,43 @@
-# PLAN - `recovery_core`
+# Trạng thái `recovery_core`
-
+
-`recovery_core` là package **interface** cho recovery behavior trong navigation stack ROS-like
+Nội dung PLAN.md cũ đã được gỡ. Hai lý do:
-T800. Package này không chứa thuật toán recovery cụ thể; nó định nghĩa contract chung để các
+
-plugin recovery có thể trả trạng thái, velocity command hoặc path.
+1. **Đánh số phase trùng nhưng khác nghĩa.** Nó dùng "Phase 1/2/3" cho các mốc riêng của gói, trùng
-
+   số với Phase 1–5 của `Test/NAV_REFACTOR_PLAN.md` — cùng một con số chỉ hai thứ khác hẳn nhau,
-## 1. Mục Tiêu
+   trong hai file cùng nằm dưới `Test/`, là bẫy đọc nhầm.
-
+2. **Tick sai.** Nó đánh `[x]` cho `RecoveryConfig::validate`, `RecoveryConfig::fromNodeHandle`,
-- Cung cấp base class `recovery_core::RecoveryBehavior` cho các hành vi recovery.
+   `MockBehavior` và `interface_contract_test.cpp` — grep cả ba symbol ra 0 hit, và `test/` khi đó
-- Dựa trên pattern `robot_nav_core::RecoveryBehavior`, nhưng mở rộng output để bao được 3 nhóm:
+   chỉ có đúng một file. Một checklist nói dối còn tệ hơn không có checklist.
-  - recovery không output, ví dụ clear/reset costmap;
+
-  - recovery sinh vận tốc theo từng cycle, ví dụ rotate/backup;
+## Nguồn chuẩn hiện tại
-  - recovery sinh path, ví dụ regen path hoặc detour path.
+
-- Dùng stack ROS-like trong workspace (`robot_*`, `tf3`, `robot_costmap_2d`), không phụ thuộc
+| Cần gì | Đọc ở đâu |
-  `roscpp` hoặc ROS master thật.
+|---|---|
-- Giữ core sạch: plugin trả `RecoveryResult`; caller/adapter quyết định publish command, thay
+| Contract, họ output, bất biến an toàn | [`README.md`](README.md) |
-  path, clear service hoặc request replan.
+| Quyết định thiết kế và lý do | [`docs/ARCHITECTURE.md`](docs/ARCHITECTURE.md) |
-
+| Quy tắc bắt buộc khi viết plugin họ vận tốc | [`docs/SAFETY.md`](docs/SAFETY.md) |
-## 2. Ranh Giới Thiết Kế
+| Cách thêm behavior mới | [`docs/PLUGIN_GUIDE.md`](docs/PLUGIN_GUIDE.md) |
-
+| Bối cảnh trong cuộc refactor navigation runtime | `Test/NAV_REFACTOR_PLAN.md`, PHASE 3 |
-### 2.1. `recovery_core` chịu trách nhiệm
+
-
+## Đã xong
-- Định nghĩa interface `RecoveryBehavior`.
+
-- Định nghĩa result contract:
+- Contract: `bool configure(name, ctx, nh)` / `bool start(goal, now)` / `update(now)` / `cancel()`;
-  - `RecoveryStatus`
+  `outputKind()` khai họ output; toàn bộ state của base là `private`.
-  - `RecoveryOutputType`
+- `RecoveryContext` chỉ chứa **cổng** (`PoseProvider`, `CollisionChecker`, `PlanProvider`), không
-  - `RecoveryResult`
+  chứa con trỏ tới dữ liệu động.
-- Cung cấp ngữ cảnh + mục tiêu runtime:
+- `RecoveryGoal` dùng `std::optional` + `trigger`; bỏ quy ước sentinel "0 = dùng default".
-  - `RecoveryContext` (tf/costmap/global_path)
+- `RecoveryRegistry` nạp theo YAML qua Boost.DLL, giữ factory sống đúng vòng đời.
-  - `RecoveryGoal` (angle/distance/target_pose/params)
+- `adapters/`: `CostmapPoseProvider`, `CostmapCollisionChecker`.
-- Param riêng plugin đọc trong `onConfigure()`; core base không giữ timeout chung.
+- Bộ mặc định 4 plugin / 5 instance: `wait`, `conservative_reset`, `rotate`, `aggressive_reset`,
-- Cung cấp docs/test stub để plugin sau này implement đúng contract.
+  `back_up`. `regen_path_recovery` bị xoá, không thay thế.
-
+- 9 bộ test GTest đăng ký với ctest, chạy trên cây config riêng của gói.
-### 2.2. `recovery_core` không chịu trách nhiệm
+
-
+## Chưa xong
-- Không implement recovery cụ thể như clear costmap, rotate, backup, regen path.
+
-- Không publish `cmd_vel`.
+- **Họ `kPath` chưa có behavior nào.** Contract đã sẵn sàng (`PlanProvider` + `outputKind()` trả
-- Không gọi ROS service hoặc action.
+  `kPath`), nhưng một behavior sinh đường thoát thật cần thông tin từ global planner — nằm ngoài
-- Không tự collision-check velocity/path output.
+  phạm vi gói này.
-- Không trực tiếp nạp plugin bằng Boost.DLL trong core interface.
+- **`ClearCostmapRecovery` chưa có test tự động.** Nó cần `Costmap2DROBOT` thật (TF + chuỗi layer),
-- Không thay thế trực tiếp `robot_nav_core::RecoveryBehavior` trong `move_base` nếu chưa có
+  không dựng được bằng fake của `nav_test_harness`. Hiện chỉ được kiểm bằng đọc code; test tích hợp
-  adapter riêng.
+  thuộc Phase 5 (kịch bản chạy trên sim).
-
+- **Chưa chạy trên robot thật.** Bật từng behavior một, không bật cả bộ cùng lúc.
-## 3. Interface Contract Đã Chốt
-
-### 3.1. Recovery status
-
-```cpp
-enum class RecoveryStatus
-{
-  kIdle,
-  kRunning,
-  kSucceeded,
-  kFailed
-};
-```
-
-Ý nghĩa:
-- `kIdle`: đã tạo/initialize nhưng chưa chạy.
-- `kRunning`: behavior cần được gọi tiếp.
-- `kSucceeded`: behavior hoàn thành.
-- `kFailed`: behavior lỗi hoặc không thể tiếp tục an toàn.
-
-### 3.2. Output type
-
-```cpp
-enum class RecoveryOutputType
-{
-  kNone,
-  kVelocity,
-  kPath
-};
-```
-
-Quy ước:
-- `kNone`: chỉ đọc `status`.
-- `kVelocity`: chỉ đọc `command`.
-- `kPath`: chỉ đọc `path`.
-
-### 3.3. Recovery result
-
-```cpp
-struct RecoveryResult
-{
-  RecoveryStatus status = RecoveryStatus::kRunning;
-  RecoveryOutputType output_type = RecoveryOutputType::kNone;
-
-  robot_geometry_msgs::Twist command;
-  robot_nav_msgs::Path path;
-
-  static RecoveryResult Running();
-  static RecoveryResult Succeeded();
-  static RecoveryResult Failed();
-  static RecoveryResult Velocity(const robot_geometry_msgs::Twist& command,
-                                 RecoveryStatus status);
-  static RecoveryResult PathOut(const robot_nav_msgs::Path& path,
-                                RecoveryStatus status);
-};
-```
-
-Factory phải giữ bất biến:
-- `Running/Succeeded/Failed` dùng `output_type = kNone`.
-- `Velocity(...)` dùng `output_type = kVelocity`.
-- `PathOut(...)` dùng `output_type = kPath`.
-
-### 3.4. Recovery behavior
-
-```cpp
-class RecoveryBehavior
-{
-public:
-  using Ptr = std::shared_ptr<RecoveryBehavior>;
-
-  virtual ~RecoveryBehavior() = default;
-
-  virtual void initialize(std::string name,
-                          tf3::BufferCore* tf,
-                          std::vector<robot_geometry_msgs::PoseStamped>* global_path,
-                          robot_costmap_2d::Costmap2DROBOT* global_costmap,
-                          robot_costmap_2d::Costmap2DROBOT* local_costmap) = 0;
-
-  virtual RecoveryResult runBehavior() = 0;
-  virtual RecoveryResult update();
-  virtual RecoveryStatus status() const = 0;
-
-protected:
-  RecoveryBehavior() = default;
-};
-```
-
-Điểm khác `robot_nav_core::RecoveryBehavior`:
-- Có thêm `global_path` để behavior họ path có ngữ cảnh plan hiện tại.
-- `runBehavior()` trả `RecoveryResult` thay vì `void`.
-- Có `update()` cho behavior per-cycle.
-
-## 4. Ba Nhóm Recovery
-
-| Nhóm | Ví dụ | Method chính | Output |
-|------|-------|--------------|--------|
-| A. Path output | regen path, detour path | `runBehavior()` | `RecoveryOutputType::kPath` |
-| B. No output | clear costmap, reset state | `runBehavior()` | `RecoveryOutputType::kNone` |
-| C. Velocity output | rotate, backup | `update()` | `RecoveryOutputType::kVelocity` |
-
-Caller/adapter chịu trách nhiệm tiêu thụ output:
-- path output: thay local path hoặc request global/local replan;
-- no output: tiếp tục navigation hoặc chuyển behavior kế tiếp;
-- velocity output: publish command ngoài core, có safety gate trước khi gửi robot.
-
-## 5. Package Layout
-
-```text
-recovery_core/
-├── CMakeLists.txt
-├── package.xml
-├── README.md
-├── PLAN.md
-├── include/recovery_core/
-│   ├── recovery_behavior.h
-│   └── recovery_types.h
-├── src/
-│   ├── recovery_behavior.cpp
-│   └── recovery_types.cpp
-├── plugins/
-│   ├── clear_costmap_recovery.cpp
-│   ├── rotate_recovery.cpp
-│   ├── back_up_recovery.cpp
-│   └── regen_path_recovery.cpp
-├── test/
-│   ├── CMakeLists.txt
-│   └── plugin_loader_contract_test.cpp
-└── docs/
-    ├── ARCHITECTURE.md
-    ├── PLUGIN_GUIDE.md
-    └── SAFETY.md
-```
-
-## 6. Dependencies
-
-Runtime/build dependencies:
-- `robot_costmap_2d`
-- `robot_cpp`
-- `robot_time`
-- `robot_geometry_msgs`
-- `robot_nav_msgs`
-- `tf3`
-- `Boost system thread`
-
-Không phụ thuộc:
-- `robot_nav_core`
-- `roscpp`
-- `pluginlib`
-
-## 7. Roadmap
-
-### Phase 1 - Package Skeleton
-
-Trạng thái: **done**.
-
-Mục tiêu:
-- Tạo package skeleton.
-- Tạo 3 header interface.
-- Tạo 3 source stub compile được.
-- Tạo README/docs/example/test stub.
-- CMake hỗ trợ catkin và standalone.
-- `package.xml` đúng dependency, không kéo `robot_nav_core`.
-
-Acceptance:
-- `catkin_make --pkg recovery_core` pass.
-- Standalone `cmake` + `make` pass.
-- Smoke test chạy được.
-- `package.xml` parse được bằng `catkin_pkg`.
-- `README.md` mô tả rõ đây là interface package, không phải behavior implementation.
-
-Kết quả hiện tại:
-- Catkin output: `devel/lib/librecovery_core.so`.
-- Catkin test binary: `devel/lib/recovery_core/recovery_core_interface_test`.
-- Standalone output: `/tmp/recovery_core_phase1_build/librecovery_core.a`.
-- Standalone test binary: `/tmp/recovery_core_phase1_build/test/recovery_core_interface_test`.
-
-### Phase 2 - Core Contract Implementation
-
-Trạng thái: **done**.
-
-Mục tiêu:
-- Hoàn thiện phần logic chung của interface, chưa viết recovery cụ thể.
-
-Work items:
-1. [x] Implement `RecoveryResult` factories.
-2. [x] Implement `RecoveryConfig::validate`.
-3. [x] Implement `RecoveryConfig::fromNodeHandle`.
-4. [x] Giữ guard `RecoveryBehavior::update()` fail an toàn khi chưa start.
-5. Deferred: helper chạy loop cho behavior velocity chỉ thêm khi Phase 4 integration cần:
-   - dùng nhịp gọi từ adapter;
-   - giám sát ngoài core nếu cần giới hạn thời gian;
-   - không cấp phát/log trong loop.
-6. [x] Hoàn thiện `MockBehavior`.
-7. [x] Nâng `interface_contract_test.cpp` từ smoke test thành assertion test.
-8. [x] Cập nhật `docs/ARCHITECTURE.md` và `docs/SAFETY.md` theo contract thật.
-
-Acceptance:
-- `RecoveryResult::Running()` trả `status = kRunning`, `output_type = kNone`.
-- `RecoveryResult::Succeeded()` trả `status = kSucceeded`, `output_type = kNone`.
-- `RecoveryResult::Failed()` trả `status = kFailed`, `output_type = kNone`.
-- `Velocity(command, status)` giữ `command`, set `output_type = kVelocity`.
-- `PathOut(path, status)` giữ `path`, set `output_type = kPath`.
-- Config/plugin reject input không hợp lệ.
-- Default `update()` không sinh velocity mù khi lifecycle sai.
-- Test cover factory, config validation, default per-cycle behavior, mock lifecycle.
-
-Verify commands:
-
-```bash
-xmllint --noout src/AMR_T800/pnkx_nav_core/src/Navigations/Libraries/recovery_core/package.xml
-python3 -c "from catkin_pkg.package import parse_package; parse_package('src/AMR_T800/pnkx_nav_core/src/Navigations/Libraries/recovery_core/package.xml')"
-catkin_make --pkg recovery_core
-./devel/lib/recovery_core/recovery_core_interface_test
-cmake -S src/AMR_T800/pnkx_nav_core/src/Navigations/Libraries/recovery_core -B /tmp/recovery_core_phase2_build
-make -C /tmp/recovery_core_phase2_build -j4
-/tmp/recovery_core_phase2_build/test/recovery_core_interface_test
-```
-
-### Phase 3 - Plugin Implementations
-
-Trạng thái: **done**.
-
-Mục tiêu:
-- Viết plugin recovery thật implement `recovery_core::RecoveryBehavior`.
-- Export bằng Boost.DLL đúng convention workspace.
-- Test nạp plugin end-to-end.
-
-Plugin đề xuất:
-1. `ClearCostmapRecovery`
-   - [x] nhóm B, one-shot, no output;
-   - [x] tham khảo logic `robot_clear_costmap_recovery`;
-   - [x] trả `RecoveryResult::Succeeded()` hoặc `Failed()`.
-2. `RotateRecovery`
-   - [x] nhóm C, per-cycle velocity;
-   - [x] đọc `target_angle`, `angular_speed`, `control_period`;
-   - [x] dùng tích phân theo `control_period` trong plugin mẫu; adapter production có thể thay bằng pose/tf;
-   - [x] trả zero command khi kết thúc hoặc fail.
-3. `BackUpRecovery`
-   - [x] nhóm C, per-cycle velocity;
-   - [x] đọc `backup_distance`, `linear_speed`, `control_period`;
-   - [x] có `require_costmap` để fail nếu thiếu local costmap trước khi trả backward velocity.
-4. `RegenPathRecovery` hoặc `DetourPathRecovery`
-   - [x] nhóm A, path output;
-   - [x] trả `robot_nav_msgs::Path`;
-   - [x] caller/adapter quyết định thay plan hay request replan.
-
-Boost.DLL convention:
-
-```cpp
-class RotateRecovery : public recovery_core::RecoveryBehavior
-{
-public:
-  static recovery_core::RecoveryBehavior::Ptr create()
-  {
-    return std::make_shared<RotateRecovery>();
-  }
-};
-
-BOOST_DLL_ALIAS(recovery_plugins::RotateRecovery::create, rotate_recovery)
-```
-
-Loader side:
-
-```cpp
-auto loader = boost::dll::import_alias<recovery_core::RecoveryBehavior::Ptr()>(
-    path_so, type, boost::dll::load_mode::append_decorations);
-
-recovery_core::RecoveryBehavior::Ptr behavior = loader();
-behavior->initialize(name, tf, global_path, global_costmap, local_costmap);
-```
-
-Acceptance:
-- [x] Mỗi plugin build ra `.so` riêng.
-- [x] Mỗi plugin export factory không tham số, trả `RecoveryBehavior::Ptr`.
-- [x] Test nạp `.so` bằng `boost::dll::import_alias`.
-- [x] Test gọi `initialize`, `runBehavior` hoặc `computeCommand`.
-- [x] Output đúng nhóm recovery.
-- [x] Không plugin nào publish trực tiếp trong core logic.
-
-Verify commands:
-
-```bash
-catkin_make --pkg recovery_core
-./devel/lib/recovery_core/recovery_core_interface_test
-./devel/lib/recovery_core/recovery_core_plugin_loader_test
-cmake -S src/AMR_T800/pnkx_nav_core/src/Navigations/Libraries/recovery_core -B /tmp/recovery_core_phase3_build
-make -C /tmp/recovery_core_phase3_build -j4
-/tmp/recovery_core_phase3_build/test/recovery_core_interface_test
-/tmp/recovery_core_phase3_build/test/recovery_core_plugin_loader_test
-```
-
-### Phase 4 - Adapter / Integration
-
-Trạng thái: **pending**.
-
-Mục tiêu:
-- Tích hợp `recovery_core` vào caller thật mà không làm core phụ thuộc ROS publish/service.
-
-Phương án:
-- Viết adapter riêng nếu cần tương thích `robot_nav_core::RecoveryBehavior`.
-- Adapter chịu trách nhiệm:
-  - load plugin;
-  - gọi `initialize`;
-  - gọi `runBehavior` hoặc loop `update`;
-  - publish velocity nếu output là `kVelocity`;
-  - thay path hoặc request replan nếu output là `kPath`;
-  - áp safety stop nếu output failed hoặc giám sát ngoài core báo lỗi.
-
-Acceptance:
-- Core vẫn không publish.
-- Plugin vẫn chỉ trả `RecoveryResult`.
-- Adapter có safety gate trước velocity command.
-- Failure path luôn trả stop command hoặc abort rõ ràng.
-
-## 8. Safety Requirements
-
-- Behavior velocity phải trả stop command khi không chắc an toàn.
-- Không publish command từ core/plugin nếu chưa qua adapter safety gate.
-- Input `NaN`, `inf`, missing tf/costmap/plan phải fail rõ ràng.
-- Không log spam trong control loop.
-- Không parse YAML hoặc cấp phát lớn trong mỗi cycle.
-- Đơn vị phải rõ:
-  - distance: meter;
-  - angle: radian;
-  - time: second;
-  - linear velocity: m/s;
-  - angular velocity: rad/s.
-
-## 9. Definition Of Done
-
-### Package DoD
-
-- `package.xml` hợp lệ.
-- Catkin build pass.
-- Standalone CMake build pass.
-- Header install/export đúng.
-- Test binary chạy được.
-- README/docs mô tả đúng scope.
-
-### Interface DoD
-
-- Contract status/output rõ ràng.
-- Factory result đúng bất biến.
-- Config validate đầy đủ.
-- Default behavior fail an toàn.
-- Test cover lifecycle và output invariant.
-
-### Plugin DoD
-
-- Plugin không publish trực tiếp.
-- Plugin không sở hữu raw pointer tf/costmap/global_path.
-- Plugin guard initialized/null/invalid input.
-- Plugin export Boost.DLL alias đúng.
-- Loader test nạp được `.so`.
-
-### Integration DoD
-
-- Adapter là nơi duy nhất có side effect publish/service/path replacement.
-- Safety stop rõ ràng khi failed hoặc adapter hủy recovery.
-- Có log đủ ngữ cảnh, không spam loop.
-
-## 10. Verification Baseline
-
-Phase 1 đã được kiểm chứng bằng các lệnh:
-
-```bash
-xmllint --noout src/AMR_T800/pnkx_nav_core/src/Navigations/Libraries/recovery_core/package.xml
-python3 -c "from catkin_pkg.package import parse_package; p=parse_package('src/AMR_T800/pnkx_nav_core/src/Navigations/Libraries/recovery_core/package.xml'); print(p.name, p.version)"
-catkin_make --pkg recovery_core
-./devel/lib/recovery_core/recovery_core_interface_test
-cmake -S src/AMR_T800/pnkx_nav_core/src/Navigations/Libraries/recovery_core -B /tmp/recovery_core_phase1_build
-make -C /tmp/recovery_core_phase1_build -j4
-/tmp/recovery_core_phase1_build/test/recovery_core_interface_test
-```
-
-Kỳ vọng chính:
-- `catkin_make --pkg recovery_core` tạo `devel/lib/librecovery_core.so`.
-- Standalone `make` tạo `/tmp/recovery_core_phase1_build/librecovery_core.a`.
-- Contract test in `interface contract test OK`.
-
-## 11. Open Decisions
-
-- Plugin mẫu hiện nằm dưới `recovery_core/plugins/`; package riêng chỉ cần nếu muốn tách deploy.
-- Có cần adapter tương thích `robot_nav_core::RecoveryBehavior` cho `move_base` hiện tại không.
-- Có cần helper loop trong base class cho behavior velocity hay để caller tự quản loop.
-- `global_path` nên là mutable pointer như hiện tại hay chuyển sang `const std::vector<...>*`
-  nếu behavior không được phép sửa plan trực tiếp.

README.md

@@ -1,69 +1,121 @@
 # recovery_core
 
-Interface (base class) cho các hành vi **recovery** của navigation stack ROS-like T800.
+Interface tick-based cho **recovery behavior** của navigation stack, kèm bộ behavior mặc định.
 
 ## Phạm vi
 
-- Là **package định nghĩa interface**, mô phỏng `robot_nav_core::RecoveryBehavior` nhưng mở
+- Định nghĩa contract `recovery_core::RecoveryBehavior` — vòng đời hướng-goal, mỗi control cycle
-  rộng thêm `global_path`: `initialize(name, tf, global_path, global_costmap, local_costmap)`;
+  một lời gọi, behavior có thể **phát vận tốc**.
-  đồng thời **tổng quát hoá output** để bao 3 họ recovery.
+- Cung cấp `RecoveryRegistry` nạp behavior theo YAML qua **Boost.DLL** (`library_path`), giữ đúng
-- **Không chạy roscpp/ROS master thật**; dùng bình thường lớp ROS-like `robot_*`
+  vòng đời `.so`.
-  (`robot_costmap_2d`, `tf3`, `robot_cpp`, `robot_time`, `robot_geometry_msgs`,
+- Kèm **bộ recovery mặc định**: wait, clear costmap, rotate, back up.
-  `robot_nav_msgs`).
+- Không chạy roscpp/ROS master; dùng lớp ROS-like `robot_*` (`robot_costmap_2d`, `tf3`, `robot_cpp`,
-- Core interface không publish trực tiếp. Package hiện có thêm các plugin mẫu build thành
+  `robot_time`, `robot_geometry_msgs`, `robot_nav_msgs`).
-  `.so` riêng và nạp qua **Boost.DLL** để kiểm chứng contract end-to-end.
 
-## Vòng đời hướng-goal
+## Vòng đời
 
 ```cpp
-behavior->configure(name, ctx);          // 1 lần: ctx = {tf, global_path, global/local costmap}
+recovery_core::RecoveryContext ctx;
-RecoveryGoal goal; goal.angle = 1.57;    // mục tiêu RUNTIME: "quay 90 độ ngay lượt này"
+ctx.pose      = &pose_provider;       // bắt buộc cho họ velocity
-RecoveryResult r = behavior->start(goal);
+ctx.collision = &collision_checker;   // bắt buộc cho họ velocity
-while (r.status == RecoveryStatus::kRunning)
+ctx.local_costmap = local_costmap;    // non-owning, làm mới trước mỗi lượt
-  r = behavior->update();                // publish r.command; đọc r.progress / r.remaining / r.message
+
+robot::NodeHandle nh;
+recovery_core::RecoveryRegistry registry;
+registry.loadFromConfig(nh, "recovery", ctx);
+
+auto* behavior = registry.at(0);
+recovery_core::RecoveryGoal goal;
+goal.trigger = recovery_core::RecoveryTrigger::kPlanningFailed;
+
+if (behavior->start(goal, clock.now()))          // trả bool; KHÔNG sinh tick
+{
+  for (;;)
+  {
+    const auto r = behavior->update(clock.now()); // dt do base đo THẬT
+    if (const auto* cmd = r.velocity())           // nullptr nếu behavior không thuộc họ velocity
+      publish(*cmd);
+    if (r.terminal())
+      break;
+  }
+}
 ```
 
-API công khai `configure/start/update/cancel` là non-virtual (base lo guard vòng đời/cancel);
+API công khai `configure` / `start` / `update` / `cancel` là **non-virtual**: base giữ toàn bộ bất
-plugin chỉ override hook `onConfigure()/onStart(goal)/onUpdate()`.
+biến, plugin chỉ triển khai hook `onConfigure` / `onStart` / `onUpdate` / `onCancel`.
 
-## Ba họ recovery
+## Ba họ output
 
-| Họ | Ví dụ | Output | Hook chính |
+Mỗi behavior khai **một lần** qua `outputKind()`; base cưỡng chế mọi kết quả trả về phải khớp, nên
-|----|-------|--------|-----------|
+caller route theo `output_type` được mà không cần tin lời hứa trong tài liệu.
-| 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()` |
 
-Cả 3 chia sẻ một `RecoveryResult` hợp nhất mang cờ `output_type` + rich feedback
+| Họ | Behavior mặc định | Output | Cổng bắt buộc trong context |
-(`progress`/`remaining`/`elapsed`/`message`).
+|----|-------------------|--------|------------------------------|
+| `kNone` | `WaitRecovery`, `ClearCostmapRecovery` | không | — (clear costmap cần con trỏ costmap) |
+| `kVelocity` | `RotateRecovery`, `BackUpRecovery` | `robot_geometry_msgs::Twist` mỗi cycle | `PoseProvider` + `CollisionChecker` |
+| `kPath` | (chưa có) | `robot_nav_msgs::Path` | `PlanProvider` |
+
+Đọc dữ liệu qua `result.velocity()` / `result.pathOut()` — trả `nullptr` nếu họ không khớp, nên
+không thể đọc nhầm trường của họ khác.
+
+## Bộ recovery mặc định
+
+Thứ tự trong `recovery_behaviors_params.yaml` **chính là hành vi**: caller thử từ đầu danh sách,
+hỏng thì sang cái kế tiếp. Sắp từ nhẹ tới nặng.
+
+| # | Instance | Plugin | Làm gì |
+|---|----------|--------|--------|
+| 0 | `wait` | `WaitRecovery` | Đứng yên `wait_duration` giây. An toàn nhất — không di chuyển, không cần pose. Với AMR trong kho, phần lớn tình huống chặn đường là vật cản động và cách này giải quyết được đa số |
+| 1 | `conservative_reset` | `ClearCostmapRecovery` | Xoá vật cản đã tích trong vùng `reset_distance` quanh robot |
+| 2 | `rotate` | `RotateRecovery` | Quay tại chỗ (mặc định đủ 2π) cho costmap quan sát lại xung quanh. Quét footprint qua **toàn bộ cung** trước khi quay |
+| 3 | `aggressive_reset` | `ClearCostmapRecovery` | Ngược lại: giữ vùng gần, xoá tất cả phần còn lại |
+| 4 | `back_up` | `BackUpRecovery` | Lùi `backup_distance` mét. Xếp **cuối** vì lùi là hướng robot thường không có sensor |
+
+Không có behavior "chỉ xin lập plan lại": state machine của `move_base2` đã tự lập plan lại sau mọi
+lượt recovery kết thúc, nên một behavior như vậy chỉ chiếm chỗ mà không làm gì.
+
+## Bất biến an toàn
+
+Base bảo đảm, không phụ thuộc plugin có nhớ hay không:
+
+- **Tiến độ đo bằng pose thật.** `update(now)` cấp `dt` đo từ đồng hồ thật, không phải chu kỳ cấu
+  hình. Plugin họ velocity đo quãng đi bằng hình chiếu delta pose, nên control loop chạy chậm không
+  làm robot đi quá quãng, và bánh trượt không bị báo nhầm là hoàn thành.
+- **Không có pose thì dừng.** `PoseProvider::getRobotPose()` trả `false` → `kFailed` + Twist 0.
+- **Không lái mù.** Họ velocity bắt buộc có `CollisionChecker`; thiếu thì `configure()` trả `false`.
+- **NaN/Inf không ra được cmd_vel.** Lệnh không hữu hạn bị đổi thành lệnh dừng + `kFailed`.
+- **`elapsed` và `timeout`.** Base đo và ép; quá hạn là `kFailed` + stop output.
+- **Stop output đúng họ.** Họ velocity nhận Twist 0 tường minh (caller đang lấy cmd_vel từ đó); họ
+  khác nhận `kNone` — base không bịa output vận tốc cho behavior không lái.
+
+Chi tiết trong [docs/SAFETY.md](docs/SAFETY.md).
 
 ## Cấu trúc
 
 ```
-include/recovery_core/   recovery_types.h, recovery_behavior.h
+include/recovery_core/   recovery_context.h, recovery_types.h, recovery_behavior.h,
-src/                     phần chung của contract (types + base lifecycle)
+                         recovery_registry.h, recovery_math.h, adapters/
-plugins/                 clear_costmap, rotate, backup, regen_path plugin mẫu
+src/                     base lifecycle + types + registry
-test/                    contract test + Boost.DLL loader test
+adapters/                CostmapPoseProvider, CostmapCollisionChecker (nối vào costmap thật)
-examples/                minimal_recovery.cpp
+plugins/                 wait, clear_costmap, rotate, back_up — bộ mặc định, mỗi cái một .so
-docs/                    ARCHITECTURE.md, PLUGIN_GUIDE.md, SAFETY.md
+test/                    9 bộ test GTest + cây config riêng
+docs/                    ARCHITECTURE.md, SAFETY.md, PLUGIN_GUIDE.md
 ```
 
-## Build
+## Build và test
-
-Hỗ trợ **catkin** và **standalone CMake** (như `robot_clear_costmap_recovery`).
 
 ```bash
-# catkin (trong workspace)
 catkin_make --pkg recovery_core
 
-# standalone
+# Đăng ký với ctest, nên chạy được cả hai đường:
-mkdir build && cd build && cmake .. && make
+cd build && ctest -R recovery_core --output-on-failure
+
+# hoặc gọi trực tiếp
+./devel/lib/recovery_core/backup_safety_test
 ```
 
-## Trạng thái
+Tham số vận hành: `pnkx_nav_core/config/recovery_behaviors_params.yaml`.
+Bản dùng cho test: `test/config/recovery_behaviors_params.yaml` — **đừng** sửa tham số vận hành ở
+đây.
 
-- [x] Phase 1 — khung package (interface + stub, build lib rỗng).
+Viết plugin mới: [docs/PLUGIN_GUIDE.md](docs/PLUGIN_GUIDE.md).
-- [x] Phase 2 — triển khai phần chung (types/config/validate + default computeCommand).
-- [x] Phase 3 — plugin mẫu cho 3 họ + export/import Boost.DLL.
-
-Xem [PLAN.md](PLAN.md) để biết chi tiết từng phase.

adapters/costmap_collision_checker.cpp

@@ -0,0 +1,124 @@
+/*********************************************************************
+ * recovery_core — CollisionChecker dựng trên Costmap2DROBOT.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <recovery_core/adapters/costmap_collision_checker.h>
+
+#include <algorithm>
+#include <cmath>
+#include <utility>
+
+#include <robot_costmap_2d/cost_values.h>
+#include <robot_costmap_2d/costmap_2d.h>
+#include <robot_costmap_2d/costmap_2d_robot.h>
+#include <robot_costmap_2d/footprint.h>
+
+namespace recovery_core
+{
+
+void CostmapCollisionChecker::setFootprintOverride(
+    std::vector<robot_geometry_msgs::Point> footprint)
+{
+  footprint_override_ = std::move(footprint);
+}
+
+void CostmapCollisionChecker::setSampleStep(double step_m)
+{
+  if (std::isfinite(step_m) && step_m > 0.0)
+  {
+    sample_step_ = step_m;
+  }
+}
+
+double CostmapCollisionChecker::pointCost(const robot_costmap_2d::Costmap2DROBOT& costmap,
+                                          double wx, double wy) const
+{
+  // Lấy lại con trỏ lưới MỖI LẦN: LayeredCostmap có thể thay Costmap2D bên dưới giữa hai cycle.
+  const robot_costmap_2d::Costmap2D* grid = costmap.getCostmap();
+  if (grid == nullptr)
+  {
+    return kOutsideMap;
+  }
+
+  unsigned int mx = 0;
+  unsigned int my = 0;
+  if (!grid->worldToMap(wx, wy, mx, my))
+  {
+    return kOutsideMap;
+  }
+
+  const unsigned char cost = grid->getCost(mx, my);
+
+  if (cost == robot_costmap_2d::NO_INFORMATION)
+  {
+    return kUnknown;
+  }
+
+  // INSCRIBED_INFLATED_OBSTACLE nghĩa là tâm robot đặt ở đây thì đã chạm vật cản — chặn như lethal.
+  if (cost == robot_costmap_2d::LETHAL_OBSTACLE ||
+      cost == robot_costmap_2d::INSCRIBED_INFLATED_OBSTACLE)
+  {
+    return kLethal;
+  }
+
+  return static_cast<double>(cost);
+}
+
+double CostmapCollisionChecker::lineCost(const robot_costmap_2d::Costmap2DROBOT& costmap, double x0,
+                                         double y0, double x1, double y1) const
+{
+  const double length = std::hypot(x1 - x0, y1 - y0);
+  const int steps = std::max(1, static_cast<int>(std::ceil(length / sample_step_)));
+
+  double worst = 0.0;
+  for (int i = 0; i <= steps; ++i)
+  {
+    const double t = static_cast<double>(i) / static_cast<double>(steps);
+    const double cost = pointCost(costmap, x0 + t * (x1 - x0), y0 + t * (y1 - y0));
+    if (cost < 0.0)
+    {
+      return cost;  // Bất kỳ mã lỗi nào cũng chặn ngay, không đi tiếp trên đoạn này.
+    }
+    worst = std::max(worst, cost);
+  }
+  return worst;
+}
+
+double CostmapCollisionChecker::footprintCost(double x, double y, double theta) const
+{
+  if (costmap_ == nullptr)
+  {
+    // Không có costmap thì không khẳng định được chỗ này đi được — trả về "chặn" chứ không phải 0.
+    return kOutsideMap;
+  }
+
+  const std::vector<robot_geometry_msgs::Point>& spec =
+      footprint_override_.empty() ? costmap_->getRobotFootprint() : footprint_override_;
+
+  if (spec.size() < 3)
+  {
+    // Footprint suy biến -> coi robot là một điểm, giống CostmapModel.
+    return pointCost(*costmap_, x, y);
+  }
+
+  std::vector<robot_geometry_msgs::Point> oriented;
+  robot_costmap_2d::transformFootprint(x, y, theta, spec, oriented);
+
+  double worst = 0.0;
+  for (std::size_t i = 0; i < oriented.size(); ++i)
+  {
+    const std::size_t j = (i + 1) % oriented.size();
+    const double cost =
+        lineCost(*costmap_, oriented[i].x, oriented[i].y, oriented[j].x, oriented[j].y);
+    if (cost < 0.0)
+    {
+      return cost;
+    }
+    worst = std::max(worst, cost);
+  }
+
+  return worst;
+}
+
+}  // namespace recovery_core

adapters/costmap_pose_provider.cpp

@@ -0,0 +1,25 @@
+/*********************************************************************
+ * recovery_core — PoseProvider dựng trên Costmap2DROBOT.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <recovery_core/adapters/costmap_pose_provider.h>
+
+#include <robot_costmap_2d/costmap_2d_robot.h>
+
+namespace recovery_core
+{
+
+bool CostmapPoseProvider::getRobotPose(robot_geometry_msgs::PoseStamped& pose) const
+{
+  if (costmap_ == nullptr)
+  {
+    return false;
+  }
+
+  // getRobotPose() đã kiểm transform_tolerance bên trong; trả false nghĩa là TF thiếu hoặc quá hạn.
+  // Không ghi vào `pose` khi thất bại — bên gọi phải dừng an toàn chứ không dùng pose cũ.
+  return costmap_->getRobotPose(pose);
+}
+
+}  // namespace recovery_core

build-standalone-codex-6GdOsi/CMakeCache.txt

@@ -0,0 +1,744 @@
+# This is the CMakeCache file.
+# For build in directory: /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi
+# It was generated by CMake: /usr/bin/cmake
+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
+# If you do want to change a value, simply edit, save, and exit the editor.
+# The syntax for the file is as follows:
+# KEY:TYPE=VALUE
+# KEY is the name of a variable in the cache.
+# TYPE is a hint to GUIs for the type of VALUE, DO NOT EDIT TYPE!.
+# VALUE is the current value for the KEY.
+
+########################
+# EXTERNAL cache entries
+########################
+
+//Boost date_time library (debug)
+Boost_DATE_TIME_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so
+
+//Boost date_time library (release)
+Boost_DATE_TIME_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_date_time.so
+
+//The directory containing a CMake configuration file for Boost.
+Boost_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0
+
+//Boost filesystem library (debug)
+Boost_FILESYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so
+
+Boost_FILESYSTEM_LIBRARY_RELEASE:STRING=/usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0
+
+//Path to a file.
+Boost_INCLUDE_DIR:PATH=/usr/include
+
+//Boost iostreams library (debug)
+Boost_IOSTREAMS_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_iostreams.so
+
+//Boost iostreams library (release)
+Boost_IOSTREAMS_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_iostreams.so
+
+//Boost library directory DEBUG
+Boost_LIBRARY_DIR_DEBUG:PATH=/usr/lib/x86_64-linux-gnu
+
+//Boost library directory RELEASE
+Boost_LIBRARY_DIR_RELEASE:PATH=/usr/lib/x86_64-linux-gnu
+
+//Boost regex library (debug)
+Boost_REGEX_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_regex.so
+
+//Boost regex library (release)
+Boost_REGEX_LIBRARY_RELEASE:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_regex.so
+
+//Boost system library (debug)
+Boost_SYSTEM_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libboost_system.so
+
+Boost_SYSTEM_LIBRARY_RELEASE:STRING=/usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0
+
+Boost_THREAD_LIBRARY_RELEASE:STRING=/usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
+
+//Path to a program.
+CMAKE_ADDR2LINE:FILEPATH=/usr/bin/addr2line
+
+//Path to a program.
+CMAKE_AR:FILEPATH=/usr/bin/ar
+
+//Choose the type of build, options are: None Debug Release RelWithDebInfo
+// MinSizeRel ...
+CMAKE_BUILD_TYPE:STRING=
+
+//Enable/Disable color output during build.
+CMAKE_COLOR_MAKEFILE:BOOL=ON
+
+//CXX compiler
+CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++
+
+//A wrapper around 'ar' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_AR:FILEPATH=/usr/bin/gcc-ar-9
+
+//A wrapper around 'ranlib' adding the appropriate '--plugin' option
+// for the GCC compiler
+CMAKE_CXX_COMPILER_RANLIB:FILEPATH=/usr/bin/gcc-ranlib-9
+
+//Flags used by the CXX compiler during all build types.
+CMAKE_CXX_FLAGS:STRING=
+
+//Flags used by the CXX compiler during DEBUG builds.
+CMAKE_CXX_FLAGS_DEBUG:STRING=-g
+
+//Flags used by the CXX compiler during MINSIZEREL builds.
+CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG
+
+//Flags used by the CXX compiler during RELEASE builds.
+CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG
+
+//Flags used by the CXX compiler during RELWITHDEBINFO builds.
+CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g -DNDEBUG
+
+//Path to a program.
+CMAKE_DLLTOOL:FILEPATH=CMAKE_DLLTOOL-NOTFOUND
+
+//Flags used by the linker during all build types.
+CMAKE_EXE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during DEBUG builds.
+CMAKE_EXE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during MINSIZEREL builds.
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during RELEASE builds.
+CMAKE_EXE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during RELWITHDEBINFO builds.
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Enable/Disable output of compile commands during generation.
+CMAKE_EXPORT_COMPILE_COMMANDS:BOOL=OFF
+
+//Install path prefix, prepended onto install directories.
+CMAKE_INSTALL_PREFIX:PATH=/usr/local
+
+//Path to a program.
+CMAKE_LINKER:FILEPATH=/usr/bin/ld
+
+//Path to a program.
+CMAKE_MAKE_PROGRAM:FILEPATH=/usr/bin/make
+
+//Flags used by the linker during the creation of modules during
+// all build types.
+CMAKE_MODULE_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of modules during
+// DEBUG builds.
+CMAKE_MODULE_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of modules during
+// MINSIZEREL builds.
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELEASE builds.
+CMAKE_MODULE_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of modules during
+// RELWITHDEBINFO builds.
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_NM:FILEPATH=/usr/bin/nm
+
+//Path to a program.
+CMAKE_OBJCOPY:FILEPATH=/usr/bin/objcopy
+
+//Path to a program.
+CMAKE_OBJDUMP:FILEPATH=/usr/bin/objdump
+
+//Value Computed by CMake
+CMAKE_PROJECT_DESCRIPTION:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_HOMEPAGE_URL:STATIC=
+
+//Value Computed by CMake
+CMAKE_PROJECT_NAME:STATIC=recovery_core
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION:STATIC=0.1.0
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_MAJOR:STATIC=0
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_MINOR:STATIC=1
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_PATCH:STATIC=0
+
+//Value Computed by CMake
+CMAKE_PROJECT_VERSION_TWEAK:STATIC=
+
+//Path to a program.
+CMAKE_RANLIB:FILEPATH=/usr/bin/ranlib
+
+//Path to a program.
+CMAKE_READELF:FILEPATH=/usr/bin/readelf
+
+//Flags used by the linker during the creation of shared libraries
+// during all build types.
+CMAKE_SHARED_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during DEBUG builds.
+CMAKE_SHARED_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during MINSIZEREL builds.
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELEASE builds.
+CMAKE_SHARED_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of shared libraries
+// during RELWITHDEBINFO builds.
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//If set, runtime paths are not added when installing shared libraries,
+// but are added when building.
+CMAKE_SKIP_INSTALL_RPATH:BOOL=NO
+
+//If set, runtime paths are not added when using shared libraries.
+CMAKE_SKIP_RPATH:BOOL=NO
+
+//Flags used by the linker during the creation of static libraries
+// during all build types.
+CMAKE_STATIC_LINKER_FLAGS:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during DEBUG builds.
+CMAKE_STATIC_LINKER_FLAGS_DEBUG:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during MINSIZEREL builds.
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELEASE builds.
+CMAKE_STATIC_LINKER_FLAGS_RELEASE:STRING=
+
+//Flags used by the linker during the creation of static libraries
+// during RELWITHDEBINFO builds.
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO:STRING=
+
+//Path to a program.
+CMAKE_STRIP:FILEPATH=/usr/bin/strip
+
+//If this value is on, makefiles will be generated without the
+// .SILENT directive, and all commands will be echoed to the console
+// during the make.  This is useful for debugging only. With Visual
+// Studio IDE projects all commands are done without /nologo.
+CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
+
+//Path to a file.
+EIGEN_INCLUDE_DIR:PATH=/usr/include/eigen3
+
+//Path to a file.
+LIBUSB_1_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+LIBUSB_1_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so
+
+//Path to a file.
+OPENNI2_INCLUDE_DIR:PATH=/usr/include/openni2
+
+//Path to a library.
+OPENNI2_LIBRARY:FILEPATH=/usr/lib/libOpenNI2.so
+
+//Path to a file.
+OPENNI_INCLUDE_DIR:PATH=/usr/include/ni
+
+//Path to a library.
+OPENNI_LIBRARY:FILEPATH=/usr/lib/libOpenNI.so
+
+//path to common headers
+PCL_COMMON_INCLUDE_DIR:PATH=/usr/include/pcl-1.10
+
+//path to pcl_common library
+PCL_COMMON_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_common.so
+
+//path to pcl_common library debug
+PCL_COMMON_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_common.so
+
+//The directory containing a CMake configuration file for PCL.
+PCL_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/pcl
+
+//path to io headers
+PCL_IO_INCLUDE_DIR:PATH=/usr/include/pcl-1.10
+
+//path to pcl_io library
+PCL_IO_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_io.so
+
+//path to pcl_io library debug
+PCL_IO_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_io.so
+
+//path to octree headers
+PCL_OCTREE_INCLUDE_DIR:PATH=/usr/include/pcl-1.10
+
+//path to pcl_octree library
+PCL_OCTREE_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so
+
+//path to pcl_octree library debug
+PCL_OCTREE_LIBRARY_DEBUG:FILEPATH=/usr/lib/x86_64-linux-gnu/libpcl_octree.so
+
+//pkg-config executable
+PKG_CONFIG_EXECUTABLE:FILEPATH=/usr/bin/pkg-config
+
+//Path to a library.
+TF3_LIBRARY:FILEPATH=/usr/local/lib/libtf3.so
+
+//Path to a file.
+USB_10_INCLUDE_DIR:PATH=/usr/include
+
+//Path to a library.
+USB_10_LIBRARY:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so
+
+//The directory containing VTKConfig.cmake
+VTK_DIR:PATH=/usr/lib/cmake/vtk-7.1
+
+//The directory containing a CMake configuration file for boost_atomic.
+boost_atomic_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_atomic-1.71.0
+
+//The directory containing a CMake configuration file for boost_filesystem.
+boost_filesystem_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_filesystem-1.71.0
+
+//The directory containing a CMake configuration file for boost_headers.
+boost_headers_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_headers-1.71.0
+
+//The directory containing a CMake configuration file for boost_system.
+boost_system_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_system-1.71.0
+
+//The directory containing a CMake configuration file for boost_thread.
+boost_thread_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0
+
+//Path to a library.
+pkgcfg_lib_PC_OPENNI2_OpenNI2:FILEPATH=/usr/lib/libOpenNI2.so
+
+//Path to a library.
+pkgcfg_lib_PC_OPENNI_OpenNI:FILEPATH=/usr/lib/libOpenNI.so
+
+//Path to a library.
+pkgcfg_lib_PC_USB_10_usb-1.0:FILEPATH=/usr/lib/x86_64-linux-gnu/libusb-1.0.so
+
+//Value Computed by CMake
+recovery_core_BINARY_DIR:STATIC=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi
+
+//Dependencies for the target
+recovery_core_LIB_DEPENDS:STATIC=general;robot_costmap_2d;general;robot_cpp;general;robot_time;general;robot_xmlrpcpp;general;Boost::system;general;Boost::thread;general;Boost::filesystem;general;yaml-cpp;general;dl;general;/usr/local/lib/libtf3.so;
+
+//Value Computed by CMake
+recovery_core_SOURCE_DIR:STATIC=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core
+
+//Dependencies for the target
+recovery_core_back_up_recovery_LIB_DEPENDS:STATIC=general;recovery_core;general;Boost::system;general;Boost::thread;general;Boost::filesystem;general;yaml-cpp;general;dl;general;/usr/local/lib/libtf3.so;
+
+//Dependencies for the target
+recovery_core_clear_costmap_recovery_LIB_DEPENDS:STATIC=general;recovery_core;general;Boost::system;general;Boost::thread;general;Boost::filesystem;general;yaml-cpp;general;dl;general;/usr/local/lib/libtf3.so;
+
+//Dependencies for the target
+recovery_core_rotate_recovery_LIB_DEPENDS:STATIC=general;recovery_core;general;Boost::system;general;Boost::thread;general;Boost::filesystem;general;yaml-cpp;general;dl;general;/usr/local/lib/libtf3.so;
+
+//Dependencies for the target
+recovery_core_wait_recovery_LIB_DEPENDS:STATIC=general;recovery_core;general;Boost::system;general;Boost::thread;general;Boost::filesystem;general;yaml-cpp;general;dl;general;/usr/local/lib/libtf3.so;
+
+//The directory containing a CMake configuration file for yaml-cpp.
+yaml-cpp_DIR:PATH=/usr/lib/x86_64-linux-gnu/cmake/yaml-cpp
+
+
+########################
+# INTERNAL cache entries
+########################
+
+//ADVANCED property for variable: Boost_DATE_TIME_LIBRARY_DEBUG
+Boost_DATE_TIME_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_DATE_TIME_LIBRARY_RELEASE
+Boost_DATE_TIME_LIBRARY_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_DIR
+Boost_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_FILESYSTEM_LIBRARY_DEBUG
+Boost_FILESYSTEM_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_FILESYSTEM_LIBRARY_RELEASE
+Boost_FILESYSTEM_LIBRARY_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_INCLUDE_DIR
+Boost_INCLUDE_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_IOSTREAMS_LIBRARY_DEBUG
+Boost_IOSTREAMS_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_IOSTREAMS_LIBRARY_RELEASE
+Boost_IOSTREAMS_LIBRARY_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_LIBRARY_DIR_DEBUG
+Boost_LIBRARY_DIR_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_LIBRARY_DIR_RELEASE
+Boost_LIBRARY_DIR_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_REGEX_LIBRARY_DEBUG
+Boost_REGEX_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_REGEX_LIBRARY_RELEASE
+Boost_REGEX_LIBRARY_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_SYSTEM_LIBRARY_DEBUG
+Boost_SYSTEM_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: Boost_SYSTEM_LIBRARY_RELEASE
+Boost_SYSTEM_LIBRARY_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_ADDR2LINE
+CMAKE_ADDR2LINE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_AR
+CMAKE_AR-ADVANCED:INTERNAL=1
+//This is the directory where this CMakeCache.txt was created
+CMAKE_CACHEFILE_DIR:INTERNAL=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi
+//Major version of cmake used to create the current loaded cache
+CMAKE_CACHE_MAJOR_VERSION:INTERNAL=3
+//Minor version of cmake used to create the current loaded cache
+CMAKE_CACHE_MINOR_VERSION:INTERNAL=16
+//Patch version of cmake used to create the current loaded cache
+CMAKE_CACHE_PATCH_VERSION:INTERNAL=3
+//ADVANCED property for variable: CMAKE_COLOR_MAKEFILE
+CMAKE_COLOR_MAKEFILE-ADVANCED:INTERNAL=1
+//Path to CMake executable.
+CMAKE_COMMAND:INTERNAL=/usr/bin/cmake
+//Path to cpack program executable.
+CMAKE_CPACK_COMMAND:INTERNAL=/usr/bin/cpack
+//Path to ctest program executable.
+CMAKE_CTEST_COMMAND:INTERNAL=/usr/bin/ctest
+//ADVANCED property for variable: CMAKE_CXX_COMPILER
+CMAKE_CXX_COMPILER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_COMPILER_AR
+CMAKE_CXX_COMPILER_AR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_COMPILER_RANLIB
+CMAKE_CXX_COMPILER_RANLIB-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS
+CMAKE_CXX_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_DEBUG
+CMAKE_CXX_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_MINSIZEREL
+CMAKE_CXX_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELEASE
+CMAKE_CXX_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_CXX_FLAGS_RELWITHDEBINFO
+CMAKE_CXX_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_DLLTOOL
+CMAKE_DLLTOOL-ADVANCED:INTERNAL=1
+//Executable file format
+CMAKE_EXECUTABLE_FORMAT:INTERNAL=ELF
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS
+CMAKE_EXE_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_DEBUG
+CMAKE_EXE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_MINSIZEREL
+CMAKE_EXE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELEASE
+CMAKE_EXE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_EXPORT_COMPILE_COMMANDS
+CMAKE_EXPORT_COMPILE_COMMANDS-ADVANCED:INTERNAL=1
+//Name of external makefile project generator.
+CMAKE_EXTRA_GENERATOR:INTERNAL=
+//Name of generator.
+CMAKE_GENERATOR:INTERNAL=Unix Makefiles
+//Generator instance identifier.
+CMAKE_GENERATOR_INSTANCE:INTERNAL=
+//Name of generator platform.
+CMAKE_GENERATOR_PLATFORM:INTERNAL=
+//Name of generator toolset.
+CMAKE_GENERATOR_TOOLSET:INTERNAL=
+//Test CMAKE_HAVE_LIBC_PTHREAD
+CMAKE_HAVE_LIBC_PTHREAD:INTERNAL=
+//Have library pthreads
+CMAKE_HAVE_PTHREADS_CREATE:INTERNAL=
+//Have library pthread
+CMAKE_HAVE_PTHREAD_CREATE:INTERNAL=1
+//Have include pthread.h
+CMAKE_HAVE_PTHREAD_H:INTERNAL=1
+//Source directory with the top level CMakeLists.txt file for this
+// project
+CMAKE_HOME_DIRECTORY:INTERNAL=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core
+//Install .so files without execute permission.
+CMAKE_INSTALL_SO_NO_EXE:INTERNAL=1
+//ADVANCED property for variable: CMAKE_LINKER
+CMAKE_LINKER-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MAKE_PROGRAM
+CMAKE_MAKE_PROGRAM-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS
+CMAKE_MODULE_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_DEBUG
+CMAKE_MODULE_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL
+CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_RELEASE
+CMAKE_MODULE_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_NM
+CMAKE_NM-ADVANCED:INTERNAL=1
+//number of local generators
+CMAKE_NUMBER_OF_MAKEFILES:INTERNAL=1
+//ADVANCED property for variable: CMAKE_OBJCOPY
+CMAKE_OBJCOPY-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_OBJDUMP
+CMAKE_OBJDUMP-ADVANCED:INTERNAL=1
+//Platform information initialized
+CMAKE_PLATFORM_INFO_INITIALIZED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_RANLIB
+CMAKE_RANLIB-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_READELF
+CMAKE_READELF-ADVANCED:INTERNAL=1
+//Path to CMake installation.
+CMAKE_ROOT:INTERNAL=/usr/share/cmake-3.16
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS
+CMAKE_SHARED_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_DEBUG
+CMAKE_SHARED_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL
+CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELEASE
+CMAKE_SHARED_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SKIP_INSTALL_RPATH
+CMAKE_SKIP_INSTALL_RPATH-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_SKIP_RPATH
+CMAKE_SKIP_RPATH-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS
+CMAKE_STATIC_LINKER_FLAGS-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_DEBUG
+CMAKE_STATIC_LINKER_FLAGS_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL
+CMAKE_STATIC_LINKER_FLAGS_MINSIZEREL-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_RELEASE
+CMAKE_STATIC_LINKER_FLAGS_RELEASE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO
+CMAKE_STATIC_LINKER_FLAGS_RELWITHDEBINFO-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: CMAKE_STRIP
+CMAKE_STRIP-ADVANCED:INTERNAL=1
+//uname command
+CMAKE_UNAME:INTERNAL=/usr/bin/uname
+//ADVANCED property for variable: CMAKE_VERBOSE_MAKEFILE
+CMAKE_VERBOSE_MAKEFILE-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: EIGEN_INCLUDE_DIR
+EIGEN_INCLUDE_DIR-ADVANCED:INTERNAL=1
+//Details about finding Boost
+FIND_PACKAGE_MESSAGE_DETAILS_Boost:INTERNAL=[/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake][cfound components: system thread filesystem ][v1.71.0()]
+//Details about finding Eigen
+FIND_PACKAGE_MESSAGE_DETAILS_Eigen:INTERNAL=[/usr/include/eigen3][v(3.1)]
+//Details about finding PCL_COMMON
+FIND_PACKAGE_MESSAGE_DETAILS_PCL_COMMON:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_common.so][/usr/include/pcl-1.10][v()]
+//Details about finding PCL_IO
+FIND_PACKAGE_MESSAGE_DETAILS_PCL_IO:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_io.so][/usr/include/pcl-1.10][v()]
+//Details about finding PCL_OCTREE
+FIND_PACKAGE_MESSAGE_DETAILS_PCL_OCTREE:INTERNAL=[/usr/lib/x86_64-linux-gnu/libpcl_octree.so][/usr/include/pcl-1.10][v()]
+//Details about finding Threads
+FIND_PACKAGE_MESSAGE_DETAILS_Threads:INTERNAL=[TRUE][v()]
+//Details about finding USB_10
+FIND_PACKAGE_MESSAGE_DETAILS_USB_10:INTERNAL=[/usr/lib/x86_64-linux-gnu/libusb-1.0.so][/usr/include][v()]
+//Details about finding libusb-1.0
+FIND_PACKAGE_MESSAGE_DETAILS_libusb-1.0:INTERNAL=[/usr/include][v()]
+//ADVANCED property for variable: PCL_COMMON_INCLUDE_DIR
+PCL_COMMON_INCLUDE_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PCL_COMMON_LIBRARY
+PCL_COMMON_LIBRARY-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PCL_COMMON_LIBRARY_DEBUG
+PCL_COMMON_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PCL_IO_INCLUDE_DIR
+PCL_IO_INCLUDE_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PCL_IO_LIBRARY
+PCL_IO_LIBRARY-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PCL_IO_LIBRARY_DEBUG
+PCL_IO_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PCL_OCTREE_INCLUDE_DIR
+PCL_OCTREE_INCLUDE_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PCL_OCTREE_LIBRARY
+PCL_OCTREE_LIBRARY-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: PCL_OCTREE_LIBRARY_DEBUG
+PCL_OCTREE_LIBRARY_DEBUG-ADVANCED:INTERNAL=1
+PC_EIGEN_CFLAGS:INTERNAL=-I/usr/include/eigen3
+PC_EIGEN_CFLAGS_I:INTERNAL=
+PC_EIGEN_CFLAGS_OTHER:INTERNAL=
+PC_EIGEN_FOUND:INTERNAL=1
+PC_EIGEN_INCLUDEDIR:INTERNAL=
+PC_EIGEN_INCLUDE_DIRS:INTERNAL=/usr/include/eigen3
+PC_EIGEN_LDFLAGS:INTERNAL=
+PC_EIGEN_LDFLAGS_OTHER:INTERNAL=
+PC_EIGEN_LIBDIR:INTERNAL=
+PC_EIGEN_LIBRARIES:INTERNAL=
+PC_EIGEN_LIBRARY_DIRS:INTERNAL=
+PC_EIGEN_LIBS:INTERNAL=
+PC_EIGEN_LIBS_L:INTERNAL=
+PC_EIGEN_LIBS_OTHER:INTERNAL=
+PC_EIGEN_LIBS_PATHS:INTERNAL=
+PC_EIGEN_MODULE_NAME:INTERNAL=eigen3
+PC_EIGEN_PREFIX:INTERNAL=/usr
+PC_EIGEN_STATIC_CFLAGS:INTERNAL=-I/usr/include/eigen3
+PC_EIGEN_STATIC_CFLAGS_I:INTERNAL=
+PC_EIGEN_STATIC_CFLAGS_OTHER:INTERNAL=
+PC_EIGEN_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/eigen3
+PC_EIGEN_STATIC_LDFLAGS:INTERNAL=
+PC_EIGEN_STATIC_LDFLAGS_OTHER:INTERNAL=
+PC_EIGEN_STATIC_LIBDIR:INTERNAL=
+PC_EIGEN_STATIC_LIBRARIES:INTERNAL=
+PC_EIGEN_STATIC_LIBRARY_DIRS:INTERNAL=
+PC_EIGEN_STATIC_LIBS:INTERNAL=
+PC_EIGEN_STATIC_LIBS_L:INTERNAL=
+PC_EIGEN_STATIC_LIBS_OTHER:INTERNAL=
+PC_EIGEN_STATIC_LIBS_PATHS:INTERNAL=
+PC_EIGEN_VERSION:INTERNAL=3.3.7
+PC_EIGEN_eigen3_INCLUDEDIR:INTERNAL=
+PC_EIGEN_eigen3_LIBDIR:INTERNAL=
+PC_EIGEN_eigen3_PREFIX:INTERNAL=
+PC_EIGEN_eigen3_VERSION:INTERNAL=
+PC_OPENNI2_CFLAGS:INTERNAL=-I/usr/include/openni2
+PC_OPENNI2_CFLAGS_I:INTERNAL=
+PC_OPENNI2_CFLAGS_OTHER:INTERNAL=
+PC_OPENNI2_FOUND:INTERNAL=1
+PC_OPENNI2_INCLUDEDIR:INTERNAL=/usr/include/openni2
+PC_OPENNI2_INCLUDE_DIRS:INTERNAL=/usr/include/openni2
+PC_OPENNI2_LDFLAGS:INTERNAL=-lOpenNI2
+PC_OPENNI2_LDFLAGS_OTHER:INTERNAL=
+PC_OPENNI2_LIBDIR:INTERNAL=/usr/lib
+PC_OPENNI2_LIBRARIES:INTERNAL=OpenNI2
+PC_OPENNI2_LIBRARY_DIRS:INTERNAL=
+PC_OPENNI2_LIBS:INTERNAL=
+PC_OPENNI2_LIBS_L:INTERNAL=
+PC_OPENNI2_LIBS_OTHER:INTERNAL=
+PC_OPENNI2_LIBS_PATHS:INTERNAL=
+PC_OPENNI2_MODULE_NAME:INTERNAL=libopenni2
+PC_OPENNI2_PREFIX:INTERNAL=/usr
+PC_OPENNI2_STATIC_CFLAGS:INTERNAL=-I/usr/include/openni2
+PC_OPENNI2_STATIC_CFLAGS_I:INTERNAL=
+PC_OPENNI2_STATIC_CFLAGS_OTHER:INTERNAL=
+PC_OPENNI2_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/openni2
+PC_OPENNI2_STATIC_LDFLAGS:INTERNAL=-lOpenNI2
+PC_OPENNI2_STATIC_LDFLAGS_OTHER:INTERNAL=
+PC_OPENNI2_STATIC_LIBDIR:INTERNAL=
+PC_OPENNI2_STATIC_LIBRARIES:INTERNAL=OpenNI2
+PC_OPENNI2_STATIC_LIBRARY_DIRS:INTERNAL=
+PC_OPENNI2_STATIC_LIBS:INTERNAL=
+PC_OPENNI2_STATIC_LIBS_L:INTERNAL=
+PC_OPENNI2_STATIC_LIBS_OTHER:INTERNAL=
+PC_OPENNI2_STATIC_LIBS_PATHS:INTERNAL=
+PC_OPENNI2_VERSION:INTERNAL=2.2.0.3
+PC_OPENNI2_libopenni2_INCLUDEDIR:INTERNAL=
+PC_OPENNI2_libopenni2_LIBDIR:INTERNAL=
+PC_OPENNI2_libopenni2_PREFIX:INTERNAL=
+PC_OPENNI2_libopenni2_VERSION:INTERNAL=
+PC_OPENNI_CFLAGS:INTERNAL=-I/usr/include/ni
+PC_OPENNI_CFLAGS_I:INTERNAL=
+PC_OPENNI_CFLAGS_OTHER:INTERNAL=
+PC_OPENNI_FOUND:INTERNAL=1
+PC_OPENNI_INCLUDEDIR:INTERNAL=/usr/include/ni
+PC_OPENNI_INCLUDE_DIRS:INTERNAL=/usr/include/ni
+PC_OPENNI_LDFLAGS:INTERNAL=-lOpenNI
+PC_OPENNI_LDFLAGS_OTHER:INTERNAL=
+PC_OPENNI_LIBDIR:INTERNAL=/usr/lib
+PC_OPENNI_LIBRARIES:INTERNAL=OpenNI
+PC_OPENNI_LIBRARY_DIRS:INTERNAL=
+PC_OPENNI_LIBS:INTERNAL=
+PC_OPENNI_LIBS_L:INTERNAL=
+PC_OPENNI_LIBS_OTHER:INTERNAL=
+PC_OPENNI_LIBS_PATHS:INTERNAL=
+PC_OPENNI_MODULE_NAME:INTERNAL=libopenni
+PC_OPENNI_PREFIX:INTERNAL=/usr
+PC_OPENNI_STATIC_CFLAGS:INTERNAL=-I/usr/include/ni
+PC_OPENNI_STATIC_CFLAGS_I:INTERNAL=
+PC_OPENNI_STATIC_CFLAGS_OTHER:INTERNAL=
+PC_OPENNI_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/ni
+PC_OPENNI_STATIC_LDFLAGS:INTERNAL=-lOpenNI
+PC_OPENNI_STATIC_LDFLAGS_OTHER:INTERNAL=
+PC_OPENNI_STATIC_LIBDIR:INTERNAL=
+PC_OPENNI_STATIC_LIBRARIES:INTERNAL=OpenNI
+PC_OPENNI_STATIC_LIBRARY_DIRS:INTERNAL=
+PC_OPENNI_STATIC_LIBS:INTERNAL=
+PC_OPENNI_STATIC_LIBS_L:INTERNAL=
+PC_OPENNI_STATIC_LIBS_OTHER:INTERNAL=
+PC_OPENNI_STATIC_LIBS_PATHS:INTERNAL=
+PC_OPENNI_VERSION:INTERNAL=1.5.4.0
+PC_OPENNI_libopenni_INCLUDEDIR:INTERNAL=
+PC_OPENNI_libopenni_LIBDIR:INTERNAL=
+PC_OPENNI_libopenni_PREFIX:INTERNAL=
+PC_OPENNI_libopenni_VERSION:INTERNAL=
+PC_USB_10_CFLAGS:INTERNAL=-I/usr/include/libusb-1.0
+PC_USB_10_CFLAGS_I:INTERNAL=
+PC_USB_10_CFLAGS_OTHER:INTERNAL=
+PC_USB_10_FOUND:INTERNAL=1
+PC_USB_10_INCLUDEDIR:INTERNAL=/usr/include
+PC_USB_10_INCLUDE_DIRS:INTERNAL=/usr/include/libusb-1.0
+PC_USB_10_LDFLAGS:INTERNAL=-lusb-1.0
+PC_USB_10_LDFLAGS_OTHER:INTERNAL=
+PC_USB_10_LIBDIR:INTERNAL=/usr/lib/x86_64-linux-gnu
+PC_USB_10_LIBRARIES:INTERNAL=usb-1.0
+PC_USB_10_LIBRARY_DIRS:INTERNAL=
+PC_USB_10_LIBS:INTERNAL=
+PC_USB_10_LIBS_L:INTERNAL=
+PC_USB_10_LIBS_OTHER:INTERNAL=
+PC_USB_10_LIBS_PATHS:INTERNAL=
+PC_USB_10_MODULE_NAME:INTERNAL=libusb-1.0
+PC_USB_10_PREFIX:INTERNAL=/usr
+PC_USB_10_STATIC_CFLAGS:INTERNAL=-I/usr/include/libusb-1.0
+PC_USB_10_STATIC_CFLAGS_I:INTERNAL=
+PC_USB_10_STATIC_CFLAGS_OTHER:INTERNAL=
+PC_USB_10_STATIC_INCLUDE_DIRS:INTERNAL=/usr/include/libusb-1.0
+PC_USB_10_STATIC_LDFLAGS:INTERNAL=-lusb-1.0;-ludev;-pthread
+PC_USB_10_STATIC_LDFLAGS_OTHER:INTERNAL=-pthread
+PC_USB_10_STATIC_LIBDIR:INTERNAL=
+PC_USB_10_STATIC_LIBRARIES:INTERNAL=usb-1.0;udev
+PC_USB_10_STATIC_LIBRARY_DIRS:INTERNAL=
+PC_USB_10_STATIC_LIBS:INTERNAL=
+PC_USB_10_STATIC_LIBS_L:INTERNAL=
+PC_USB_10_STATIC_LIBS_OTHER:INTERNAL=
+PC_USB_10_STATIC_LIBS_PATHS:INTERNAL=
+PC_USB_10_VERSION:INTERNAL=1.0.23
+PC_USB_10_libusb-1.0_INCLUDEDIR:INTERNAL=
+PC_USB_10_libusb-1.0_LIBDIR:INTERNAL=
+PC_USB_10_libusb-1.0_PREFIX:INTERNAL=
+PC_USB_10_libusb-1.0_VERSION:INTERNAL=
+//ADVANCED property for variable: PKG_CONFIG_EXECUTABLE
+PKG_CONFIG_EXECUTABLE-ADVANCED:INTERNAL=1
+//Last used BOOST_INCLUDEDIR value.
+_BOOST_INCLUDEDIR_LAST:INTERNAL=/usr/include
+//Last used Boost_ADDITIONAL_VERSIONS value.
+_Boost_ADDITIONAL_VERSIONS_LAST:INTERNAL=1.71.0;1.71;1.71.0;1.71;1.70.0;1.70;1.69.0;1.69;1.68.0;1.68;1.67.0;1.67;1.66.0;1.66;1.65.1;1.65.0;1.65;1.64.0;1.64;1.63.0;1.63;1.62.0;1.62;1.61.0;1.61;1.60.0;1.60;1.59.0;1.59;1.58.0;1.58;1.57.0;1.57;1.56.0;1.56;1.55.0;1.55
+//Components requested for this build tree.
+_Boost_COMPONENTS_SEARCHED:INTERNAL=date_time;filesystem;iostreams;regex;system
+//Last used Boost_INCLUDE_DIR value.
+_Boost_INCLUDE_DIR_LAST:INTERNAL=/usr/include
+//Last used Boost_LIBRARY_DIR_DEBUG value.
+_Boost_LIBRARY_DIR_DEBUG_LAST:INTERNAL=/usr/lib/x86_64-linux-gnu
+//Last used Boost_LIBRARY_DIR_RELEASE value.
+_Boost_LIBRARY_DIR_RELEASE_LAST:INTERNAL=/usr/lib/x86_64-linux-gnu
+//Last used Boost_NAMESPACE value.
+_Boost_NAMESPACE_LAST:INTERNAL=boost
+//Last used Boost_USE_MULTITHREADED value.
+_Boost_USE_MULTITHREADED_LAST:INTERNAL=TRUE
+__pkg_config_arguments_PC_EIGEN:INTERNAL=eigen3
+__pkg_config_arguments_PC_OPENNI:INTERNAL=QUIET;libopenni
+__pkg_config_arguments_PC_OPENNI2:INTERNAL=QUIET;libopenni2
+__pkg_config_arguments_PC_USB_10:INTERNAL=libusb-1.0
+__pkg_config_checked_PC_EIGEN:INTERNAL=1
+__pkg_config_checked_PC_OPENNI:INTERNAL=1
+__pkg_config_checked_PC_OPENNI2:INTERNAL=1
+__pkg_config_checked_PC_USB_10:INTERNAL=1
+//ADVANCED property for variable: boost_atomic_DIR
+boost_atomic_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: boost_filesystem_DIR
+boost_filesystem_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: boost_headers_DIR
+boost_headers_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: boost_system_DIR
+boost_system_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: boost_thread_DIR
+boost_thread_DIR-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: pkgcfg_lib_PC_OPENNI2_OpenNI2
+pkgcfg_lib_PC_OPENNI2_OpenNI2-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: pkgcfg_lib_PC_OPENNI_OpenNI
+pkgcfg_lib_PC_OPENNI_OpenNI-ADVANCED:INTERNAL=1
+//ADVANCED property for variable: pkgcfg_lib_PC_USB_10_usb-1.0
+pkgcfg_lib_PC_USB_10_usb-1.0-ADVANCED:INTERNAL=1
+prefix_result:INTERNAL=/usr/lib
+

build-standalone-codex-6GdOsi/CMakeFiles/3.16.3/CMakeCXXCompiler.cmake

@@ -0,0 +1,88 @@
+set(CMAKE_CXX_COMPILER "/usr/bin/c++")
+set(CMAKE_CXX_COMPILER_ARG1 "")
+set(CMAKE_CXX_COMPILER_ID "GNU")
+set(CMAKE_CXX_COMPILER_VERSION "9.4.0")
+set(CMAKE_CXX_COMPILER_VERSION_INTERNAL "")
+set(CMAKE_CXX_COMPILER_WRAPPER "")
+set(CMAKE_CXX_STANDARD_COMPUTED_DEFAULT "14")
+set(CMAKE_CXX_COMPILE_FEATURES "cxx_std_98;cxx_template_template_parameters;cxx_std_11;cxx_alias_templates;cxx_alignas;cxx_alignof;cxx_attributes;cxx_auto_type;cxx_constexpr;cxx_decltype;cxx_decltype_incomplete_return_types;cxx_default_function_template_args;cxx_defaulted_functions;cxx_defaulted_move_initializers;cxx_delegating_constructors;cxx_deleted_functions;cxx_enum_forward_declarations;cxx_explicit_conversions;cxx_extended_friend_declarations;cxx_extern_templates;cxx_final;cxx_func_identifier;cxx_generalized_initializers;cxx_inheriting_constructors;cxx_inline_namespaces;cxx_lambdas;cxx_local_type_template_args;cxx_long_long_type;cxx_noexcept;cxx_nonstatic_member_init;cxx_nullptr;cxx_override;cxx_range_for;cxx_raw_string_literals;cxx_reference_qualified_functions;cxx_right_angle_brackets;cxx_rvalue_references;cxx_sizeof_member;cxx_static_assert;cxx_strong_enums;cxx_thread_local;cxx_trailing_return_types;cxx_unicode_literals;cxx_uniform_initialization;cxx_unrestricted_unions;cxx_user_literals;cxx_variadic_macros;cxx_variadic_templates;cxx_std_14;cxx_aggregate_default_initializers;cxx_attribute_deprecated;cxx_binary_literals;cxx_contextual_conversions;cxx_decltype_auto;cxx_digit_separators;cxx_generic_lambdas;cxx_lambda_init_captures;cxx_relaxed_constexpr;cxx_return_type_deduction;cxx_variable_templates;cxx_std_17;cxx_std_20")
+set(CMAKE_CXX98_COMPILE_FEATURES "cxx_std_98;cxx_template_template_parameters")
+set(CMAKE_CXX11_COMPILE_FEATURES "cxx_std_11;cxx_alias_templates;cxx_alignas;cxx_alignof;cxx_attributes;cxx_auto_type;cxx_constexpr;cxx_decltype;cxx_decltype_incomplete_return_types;cxx_default_function_template_args;cxx_defaulted_functions;cxx_defaulted_move_initializers;cxx_delegating_constructors;cxx_deleted_functions;cxx_enum_forward_declarations;cxx_explicit_conversions;cxx_extended_friend_declarations;cxx_extern_templates;cxx_final;cxx_func_identifier;cxx_generalized_initializers;cxx_inheriting_constructors;cxx_inline_namespaces;cxx_lambdas;cxx_local_type_template_args;cxx_long_long_type;cxx_noexcept;cxx_nonstatic_member_init;cxx_nullptr;cxx_override;cxx_range_for;cxx_raw_string_literals;cxx_reference_qualified_functions;cxx_right_angle_brackets;cxx_rvalue_references;cxx_sizeof_member;cxx_static_assert;cxx_strong_enums;cxx_thread_local;cxx_trailing_return_types;cxx_unicode_literals;cxx_uniform_initialization;cxx_unrestricted_unions;cxx_user_literals;cxx_variadic_macros;cxx_variadic_templates")
+set(CMAKE_CXX14_COMPILE_FEATURES "cxx_std_14;cxx_aggregate_default_initializers;cxx_attribute_deprecated;cxx_binary_literals;cxx_contextual_conversions;cxx_decltype_auto;cxx_digit_separators;cxx_generic_lambdas;cxx_lambda_init_captures;cxx_relaxed_constexpr;cxx_return_type_deduction;cxx_variable_templates")
+set(CMAKE_CXX17_COMPILE_FEATURES "cxx_std_17")
+set(CMAKE_CXX20_COMPILE_FEATURES "cxx_std_20")
+
+set(CMAKE_CXX_PLATFORM_ID "Linux")
+set(CMAKE_CXX_SIMULATE_ID "")
+set(CMAKE_CXX_COMPILER_FRONTEND_VARIANT "")
+set(CMAKE_CXX_SIMULATE_VERSION "")
+
+
+
+set(CMAKE_AR "/usr/bin/ar")
+set(CMAKE_CXX_COMPILER_AR "/usr/bin/gcc-ar-9")
+set(CMAKE_RANLIB "/usr/bin/ranlib")
+set(CMAKE_CXX_COMPILER_RANLIB "/usr/bin/gcc-ranlib-9")
+set(CMAKE_LINKER "/usr/bin/ld")
+set(CMAKE_MT "")
+set(CMAKE_COMPILER_IS_GNUCXX 1)
+set(CMAKE_CXX_COMPILER_LOADED 1)
+set(CMAKE_CXX_COMPILER_WORKS TRUE)
+set(CMAKE_CXX_ABI_COMPILED TRUE)
+set(CMAKE_COMPILER_IS_MINGW )
+set(CMAKE_COMPILER_IS_CYGWIN )
+if(CMAKE_COMPILER_IS_CYGWIN)
+  set(CYGWIN 1)
+  set(UNIX 1)
+endif()
+
+set(CMAKE_CXX_COMPILER_ENV_VAR "CXX")
+
+if(CMAKE_COMPILER_IS_MINGW)
+  set(MINGW 1)
+endif()
+set(CMAKE_CXX_COMPILER_ID_RUN 1)
+set(CMAKE_CXX_SOURCE_FILE_EXTENSIONS C;M;c++;cc;cpp;cxx;m;mm;CPP)
+set(CMAKE_CXX_IGNORE_EXTENSIONS inl;h;hpp;HPP;H;o;O;obj;OBJ;def;DEF;rc;RC)
+
+foreach (lang C OBJC OBJCXX)
+  if (CMAKE_${lang}_COMPILER_ID_RUN)
+    foreach(extension IN LISTS CMAKE_${lang}_SOURCE_FILE_EXTENSIONS)
+      list(REMOVE_ITEM CMAKE_CXX_SOURCE_FILE_EXTENSIONS ${extension})
+    endforeach()
+  endif()
+endforeach()
+
+set(CMAKE_CXX_LINKER_PREFERENCE 30)
+set(CMAKE_CXX_LINKER_PREFERENCE_PROPAGATES 1)
+
+# Save compiler ABI information.
+set(CMAKE_CXX_SIZEOF_DATA_PTR "8")
+set(CMAKE_CXX_COMPILER_ABI "ELF")
+set(CMAKE_CXX_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
+
+if(CMAKE_CXX_SIZEOF_DATA_PTR)
+  set(CMAKE_SIZEOF_VOID_P "${CMAKE_CXX_SIZEOF_DATA_PTR}")
+endif()
+
+if(CMAKE_CXX_COMPILER_ABI)
+  set(CMAKE_INTERNAL_PLATFORM_ABI "${CMAKE_CXX_COMPILER_ABI}")
+endif()
+
+if(CMAKE_CXX_LIBRARY_ARCHITECTURE)
+  set(CMAKE_LIBRARY_ARCHITECTURE "x86_64-linux-gnu")
+endif()
+
+set(CMAKE_CXX_CL_SHOWINCLUDES_PREFIX "")
+if(CMAKE_CXX_CL_SHOWINCLUDES_PREFIX)
+  set(CMAKE_CL_SHOWINCLUDES_PREFIX "${CMAKE_CXX_CL_SHOWINCLUDES_PREFIX}")
+endif()
+
+
+
+
+
+set(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES "/usr/include/c++/9;/usr/include/x86_64-linux-gnu/c++/9;/usr/include/c++/9/backward;/usr/lib/gcc/x86_64-linux-gnu/9/include;/usr/local/include;/usr/include/x86_64-linux-gnu;/usr/include")
+set(CMAKE_CXX_IMPLICIT_LINK_LIBRARIES "stdc++;m;gcc_s;gcc;c;gcc_s;gcc")
+set(CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES "/usr/lib/gcc/x86_64-linux-gnu/9;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib")
+set(CMAKE_CXX_IMPLICIT_LINK_FRAMEWORK_DIRECTORIES "")

build-standalone-codex-6GdOsi/CMakeFiles/3.16.3/CMakeSystem.cmake

@@ -0,0 +1,15 @@
+set(CMAKE_HOST_SYSTEM "Linux-5.15.0-139-generic")
+set(CMAKE_HOST_SYSTEM_NAME "Linux")
+set(CMAKE_HOST_SYSTEM_VERSION "5.15.0-139-generic")
+set(CMAKE_HOST_SYSTEM_PROCESSOR "x86_64")
+
+
+
+set(CMAKE_SYSTEM "Linux-5.15.0-139-generic")
+set(CMAKE_SYSTEM_NAME "Linux")
+set(CMAKE_SYSTEM_VERSION "5.15.0-139-generic")
+set(CMAKE_SYSTEM_PROCESSOR "x86_64")
+
+set(CMAKE_CROSSCOMPILING "FALSE")
+
+set(CMAKE_SYSTEM_LOADED 1)

build-standalone-codex-6GdOsi/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp

@@ -0,0 +1,660 @@
+/* This source file must have a .cpp extension so that all C++ compilers
+   recognize the extension without flags.  Borland does not know .cxx for
+   example.  */
+#ifndef __cplusplus
+# error "A C compiler has been selected for C++."
+#endif
+
+
+/* Version number components: V=Version, R=Revision, P=Patch
+   Version date components:   YYYY=Year, MM=Month,   DD=Day  */
+
+#if defined(__COMO__)
+# define COMPILER_ID "Comeau"
+  /* __COMO_VERSION__ = VRR */
+# define COMPILER_VERSION_MAJOR DEC(__COMO_VERSION__ / 100)
+# define COMPILER_VERSION_MINOR DEC(__COMO_VERSION__ % 100)
+
+#elif defined(__INTEL_COMPILER) || defined(__ICC)
+# define COMPILER_ID "Intel"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_ID "GNU"
+# endif
+  /* __INTEL_COMPILER = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__INTEL_COMPILER/100)
+# define COMPILER_VERSION_MINOR DEC(__INTEL_COMPILER/10 % 10)
+# if defined(__INTEL_COMPILER_UPDATE)
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER_UPDATE)
+# else
+#  define COMPILER_VERSION_PATCH DEC(__INTEL_COMPILER   % 10)
+# endif
+# if defined(__INTEL_COMPILER_BUILD_DATE)
+  /* __INTEL_COMPILER_BUILD_DATE = YYYYMMDD */
+#  define COMPILER_VERSION_TWEAK DEC(__INTEL_COMPILER_BUILD_DATE)
+# endif
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# if defined(__GNUC__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUC__)
+# elif defined(__GNUG__)
+#  define SIMULATE_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define SIMULATE_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define SIMULATE_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(__PATHCC__)
+# define COMPILER_ID "PathScale"
+# define COMPILER_VERSION_MAJOR DEC(__PATHCC__)
+# define COMPILER_VERSION_MINOR DEC(__PATHCC_MINOR__)
+# if defined(__PATHCC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PATHCC_PATCHLEVEL__)
+# endif
+
+#elif defined(__BORLANDC__) && defined(__CODEGEARC_VERSION__)
+# define COMPILER_ID "Embarcadero"
+# define COMPILER_VERSION_MAJOR HEX(__CODEGEARC_VERSION__>>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
+#elif CXX_STD >= 201402L
+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}

build-standalone-codex-6GdOsi/CMakeFiles/CMakeDirectoryInformation.cmake

@@ -0,0 +1,16 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Relative path conversion top directories.
+set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core")
+set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi")
+
+# Force unix paths in dependencies.
+set(CMAKE_FORCE_UNIX_PATHS 1)
+
+
+# The C and CXX include file regular expressions for this directory.
+set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
+set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
+set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
+set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})

build-standalone-codex-6GdOsi/CMakeFiles/CMakeError.log

@@ -0,0 +1,58 @@
+Performing C++ SOURCE FILE Test CMAKE_HAVE_LIBC_PTHREAD failed with the following output:
+Change Dir: /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp
+
+Run Build Command(s):/usr/bin/make cmTC_28a30/fast && /usr/bin/make -f CMakeFiles/cmTC_28a30.dir/build.make CMakeFiles/cmTC_28a30.dir/build
+make[1]: Entering directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+Building CXX object CMakeFiles/cmTC_28a30.dir/src.cxx.o
+/usr/bin/c++    -DCMAKE_HAVE_LIBC_PTHREAD   -o CMakeFiles/cmTC_28a30.dir/src.cxx.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp/src.cxx
+Linking CXX executable cmTC_28a30
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_28a30.dir/link.txt --verbose=1
+/usr/bin/c++   -DCMAKE_HAVE_LIBC_PTHREAD    -rdynamic CMakeFiles/cmTC_28a30.dir/src.cxx.o  -o cmTC_28a30 
+/usr/bin/ld: CMakeFiles/cmTC_28a30.dir/src.cxx.o: in function `main':
+src.cxx:(.text+0x46): undefined reference to `pthread_create'
+/usr/bin/ld: src.cxx:(.text+0x52): undefined reference to `pthread_detach'
+/usr/bin/ld: src.cxx:(.text+0x63): undefined reference to `pthread_join'
+collect2: error: ld returned 1 exit status
+make[1]: *** [CMakeFiles/cmTC_28a30.dir/build.make:87: cmTC_28a30] Error 1
+make[1]: Leaving directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+make: *** [Makefile:121: cmTC_28a30/fast] Error 2
+
+
+Source file was:
+#include <pthread.h>
+
+void* test_func(void* data)
+{
+  return data;
+}
+
+int main(void)
+{
+  pthread_t thread;
+  pthread_create(&thread, NULL, test_func, NULL);
+  pthread_detach(thread);
+  pthread_join(thread, NULL);
+  pthread_atfork(NULL, NULL, NULL);
+  pthread_exit(NULL);
+
+  return 0;
+}
+
+Determining if the function pthread_create exists in the pthreads failed with the following output:
+Change Dir: /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp
+
+Run Build Command(s):/usr/bin/make cmTC_a2615/fast && /usr/bin/make -f CMakeFiles/cmTC_a2615.dir/build.make CMakeFiles/cmTC_a2615.dir/build
+make[1]: Entering directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+Building CXX object CMakeFiles/cmTC_a2615.dir/CheckFunctionExists.cxx.o
+/usr/bin/c++    -DCHECK_FUNCTION_EXISTS=pthread_create   -o CMakeFiles/cmTC_a2615.dir/CheckFunctionExists.cxx.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CheckLibraryExists/CheckFunctionExists.cxx
+Linking CXX executable cmTC_a2615
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_a2615.dir/link.txt --verbose=1
+/usr/bin/c++   -DCHECK_FUNCTION_EXISTS=pthread_create    -rdynamic CMakeFiles/cmTC_a2615.dir/CheckFunctionExists.cxx.o  -o cmTC_a2615  -lpthreads 
+/usr/bin/ld: cannot find -lpthreads
+collect2: error: ld returned 1 exit status
+make[1]: *** [CMakeFiles/cmTC_a2615.dir/build.make:87: cmTC_a2615] Error 1
+make[1]: Leaving directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+make: *** [Makefile:121: cmTC_a2615/fast] Error 2
+
+
+

build-standalone-codex-6GdOsi/CMakeFiles/CMakeOutput.log

@@ -0,0 +1,265 @@
+The system is: Linux - 5.15.0-139-generic - x86_64
+Compiling the CXX compiler identification source file "CMakeCXXCompilerId.cpp" succeeded.
+Compiler: /usr/bin/c++ 
+Build flags: 
+Id flags:  
+
+The output was:
+0
+
+
+Compilation of the CXX compiler identification source "CMakeCXXCompilerId.cpp" produced "a.out"
+
+The CXX compiler identification is GNU, found in "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/3.16.3/CompilerIdCXX/a.out"
+
+Determining if the CXX compiler works passed with the following output:
+Change Dir: /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp
+
+Run Build Command(s):/usr/bin/make cmTC_4a436/fast && /usr/bin/make -f CMakeFiles/cmTC_4a436.dir/build.make CMakeFiles/cmTC_4a436.dir/build
+make[1]: Entering directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+Building CXX object CMakeFiles/cmTC_4a436.dir/testCXXCompiler.cxx.o
+/usr/bin/c++     -o CMakeFiles/cmTC_4a436.dir/testCXXCompiler.cxx.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp/testCXXCompiler.cxx
+Linking CXX executable cmTC_4a436
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_4a436.dir/link.txt --verbose=1
+/usr/bin/c++       -rdynamic CMakeFiles/cmTC_4a436.dir/testCXXCompiler.cxx.o  -o cmTC_4a436 
+make[1]: Leaving directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+
+
+
+Detecting CXX compiler ABI info compiled with the following output:
+Change Dir: /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp
+
+Run Build Command(s):/usr/bin/make cmTC_221a3/fast && /usr/bin/make -f CMakeFiles/cmTC_221a3.dir/build.make CMakeFiles/cmTC_221a3.dir/build
+make[1]: Entering directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+Building CXX object CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o
+/usr/bin/c++    -v -o CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp
+Using built-in specs.
+COLLECT_GCC=/usr/bin/c++
+OFFLOAD_TARGET_NAMES=nvptx-none:hsa
+OFFLOAD_TARGET_DEFAULT=1
+Target: x86_64-linux-gnu
+Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
+Thread model: posix
+gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) 
+COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
+ /usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccDyXxmu.s
+GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
+	compiled by GNU C version 9.4.0, GMP version 6.2.0, MPFR version 4.0.2, MPC version 1.1.0, isl version isl-0.22.1-GMP
+
+GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
+ignoring duplicate directory "/usr/include/x86_64-linux-gnu/c++/9"
+ignoring nonexistent directory "/usr/local/include/x86_64-linux-gnu"
+ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/include-fixed"
+ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/../../../../x86_64-linux-gnu/include"
+#include "..." search starts here:
+#include <...> search starts here:
+ /usr/include/c++/9
+ /usr/include/x86_64-linux-gnu/c++/9
+ /usr/include/c++/9/backward
+ /usr/lib/gcc/x86_64-linux-gnu/9/include
+ /usr/local/include
+ /usr/include/x86_64-linux-gnu
+ /usr/include
+End of search list.
+GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)
+	compiled by GNU C version 9.4.0, GMP version 6.2.0, MPFR version 4.0.2, MPC version 1.1.0, isl version isl-0.22.1-GMP
+
+GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072
+Compiler executable checksum: 3d1eba838554fa2348dba760e4770469
+COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
+ as -v --64 -o CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccDyXxmu.s
+GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34
+COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/
+LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/
+COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
+Linking CXX executable cmTC_221a3
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_221a3.dir/link.txt --verbose=1
+/usr/bin/c++      -v -rdynamic CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o  -o cmTC_221a3 
+Using built-in specs.
+COLLECT_GCC=/usr/bin/c++
+COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper
+OFFLOAD_TARGET_NAMES=nvptx-none:hsa
+OFFLOAD_TARGET_DEFAULT=1
+Target: x86_64-linux-gnu
+Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c,ada,c++,go,brig,d,fortran,objc,obj-c++,gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr,hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
+Thread model: posix
+gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) 
+COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/
+LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/
+COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_221a3' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
+ /usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccRAA4OV.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_221a3 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o
+COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_221a3' '-shared-libgcc' '-mtune=generic' '-march=x86-64'
+make[1]: Leaving directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+
+
+
+Parsed CXX implicit include dir info from above output: rv=done
+  found start of include info
+  found start of implicit include info
+    add: [/usr/include/c++/9]
+    add: [/usr/include/x86_64-linux-gnu/c++/9]
+    add: [/usr/include/c++/9/backward]
+    add: [/usr/lib/gcc/x86_64-linux-gnu/9/include]
+    add: [/usr/local/include]
+    add: [/usr/include/x86_64-linux-gnu]
+    add: [/usr/include]
+  end of search list found
+  collapse include dir [/usr/include/c++/9] ==> [/usr/include/c++/9]
+  collapse include dir [/usr/include/x86_64-linux-gnu/c++/9] ==> [/usr/include/x86_64-linux-gnu/c++/9]
+  collapse include dir [/usr/include/c++/9/backward] ==> [/usr/include/c++/9/backward]
+  collapse include dir [/usr/lib/gcc/x86_64-linux-gnu/9/include] ==> [/usr/lib/gcc/x86_64-linux-gnu/9/include]
+  collapse include dir [/usr/local/include] ==> [/usr/local/include]
+  collapse include dir [/usr/include/x86_64-linux-gnu] ==> [/usr/include/x86_64-linux-gnu]
+  collapse include dir [/usr/include] ==> [/usr/include]
+  implicit include dirs: [/usr/include/c++/9;/usr/include/x86_64-linux-gnu/c++/9;/usr/include/c++/9/backward;/usr/lib/gcc/x86_64-linux-gnu/9/include;/usr/local/include;/usr/include/x86_64-linux-gnu;/usr/include]
+
+
+Parsed CXX implicit link information from above output:
+  link line regex: [^( *|.*[/\])(ld|CMAKE_LINK_STARTFILE-NOTFOUND|([^/\]+-)?ld|collect2)[^/\]*( |$)]
+  ignore line: [Change Dir: /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp]
+  ignore line: []
+  ignore line: [Run Build Command(s):/usr/bin/make cmTC_221a3/fast && /usr/bin/make -f CMakeFiles/cmTC_221a3.dir/build.make CMakeFiles/cmTC_221a3.dir/build]
+  ignore line: [make[1]: Entering directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp']
+  ignore line: [Building CXX object CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o]
+  ignore line: [/usr/bin/c++    -v -o CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o -c /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp]
+  ignore line: [Using built-in specs.]
+  ignore line: [COLLECT_GCC=/usr/bin/c++]
+  ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:hsa]
+  ignore line: [OFFLOAD_TARGET_DEFAULT=1]
+  ignore line: [Target: x86_64-linux-gnu]
+  ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go brig d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu]
+  ignore line: [Thread model: posix]
+  ignore line: [gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) ]
+  ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
+  ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/9/cc1plus -quiet -v -imultiarch x86_64-linux-gnu -D_GNU_SOURCE /usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp -quiet -dumpbase CMakeCXXCompilerABI.cpp -mtune=generic -march=x86-64 -auxbase-strip CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o -version -fasynchronous-unwind-tables -fstack-protector-strong -Wformat -Wformat-security -fstack-clash-protection -fcf-protection -o /tmp/ccDyXxmu.s]
+  ignore line: [GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)]
+  ignore line: [	compiled by GNU C version 9.4.0  GMP version 6.2.0  MPFR version 4.0.2  MPC version 1.1.0  isl version isl-0.22.1-GMP]
+  ignore line: []
+  ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072]
+  ignore line: [ignoring duplicate directory "/usr/include/x86_64-linux-gnu/c++/9"]
+  ignore line: [ignoring nonexistent directory "/usr/local/include/x86_64-linux-gnu"]
+  ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/include-fixed"]
+  ignore line: [ignoring nonexistent directory "/usr/lib/gcc/x86_64-linux-gnu/9/../../../../x86_64-linux-gnu/include"]
+  ignore line: [#include "..." search starts here:]
+  ignore line: [#include <...> search starts here:]
+  ignore line: [ /usr/include/c++/9]
+  ignore line: [ /usr/include/x86_64-linux-gnu/c++/9]
+  ignore line: [ /usr/include/c++/9/backward]
+  ignore line: [ /usr/lib/gcc/x86_64-linux-gnu/9/include]
+  ignore line: [ /usr/local/include]
+  ignore line: [ /usr/include/x86_64-linux-gnu]
+  ignore line: [ /usr/include]
+  ignore line: [End of search list.]
+  ignore line: [GNU C++14 (Ubuntu 9.4.0-1ubuntu1~20.04.2) version 9.4.0 (x86_64-linux-gnu)]
+  ignore line: [	compiled by GNU C version 9.4.0  GMP version 6.2.0  MPFR version 4.0.2  MPC version 1.1.0  isl version isl-0.22.1-GMP]
+  ignore line: []
+  ignore line: [GGC heuristics: --param ggc-min-expand=100 --param ggc-min-heapsize=131072]
+  ignore line: [Compiler executable checksum: 3d1eba838554fa2348dba760e4770469]
+  ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
+  ignore line: [ as -v --64 -o CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o /tmp/ccDyXxmu.s]
+  ignore line: [GNU assembler version 2.34 (x86_64-linux-gnu) using BFD version (GNU Binutils for Ubuntu) 2.34]
+  ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/]
+  ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/]
+  ignore line: [COLLECT_GCC_OPTIONS='-v' '-o' 'CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o' '-c' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
+  ignore line: [Linking CXX executable cmTC_221a3]
+  ignore line: [/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_221a3.dir/link.txt --verbose=1]
+  ignore line: [/usr/bin/c++      -v -rdynamic CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o  -o cmTC_221a3 ]
+  ignore line: [Using built-in specs.]
+  ignore line: [COLLECT_GCC=/usr/bin/c++]
+  ignore line: [COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper]
+  ignore line: [OFFLOAD_TARGET_NAMES=nvptx-none:hsa]
+  ignore line: [OFFLOAD_TARGET_DEFAULT=1]
+  ignore line: [Target: x86_64-linux-gnu]
+  ignore line: [Configured with: ../src/configure -v --with-pkgversion='Ubuntu 9.4.0-1ubuntu1~20.04.2' --with-bugurl=file:///usr/share/doc/gcc-9/README.Bugs --enable-languages=c ada c++ go brig d fortran objc obj-c++ gm2 --prefix=/usr --with-gcc-major-version-only --program-suffix=-9 --program-prefix=x86_64-linux-gnu- --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --libdir=/usr/lib --enable-nls --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --with-default-libstdcxx-abi=new --enable-gnu-unique-object --disable-vtable-verify --enable-plugin --enable-default-pie --with-system-zlib --with-target-system-zlib=auto --enable-objc-gc=auto --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32 m64 mx32 --enable-multilib --with-tune=generic --enable-offload-targets=nvptx-none=/build/gcc-9-9QDOt0/gcc-9-9.4.0/debian/tmp-nvptx/usr hsa --without-cuda-driver --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu]
+  ignore line: [Thread model: posix]
+  ignore line: [gcc version 9.4.0 (Ubuntu 9.4.0-1ubuntu1~20.04.2) ]
+  ignore line: [COMPILER_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/]
+  ignore line: [LIBRARY_PATH=/usr/lib/gcc/x86_64-linux-gnu/9/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib/:/lib/x86_64-linux-gnu/:/lib/../lib/:/usr/lib/x86_64-linux-gnu/:/usr/lib/../lib/:/usr/lib/gcc/x86_64-linux-gnu/9/../../../:/lib/:/usr/lib/]
+  ignore line: [COLLECT_GCC_OPTIONS='-v' '-rdynamic' '-o' 'cmTC_221a3' '-shared-libgcc' '-mtune=generic' '-march=x86-64']
+  link line: [ /usr/lib/gcc/x86_64-linux-gnu/9/collect2 -plugin /usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so -plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper -plugin-opt=-fresolution=/tmp/ccRAA4OV.res -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc -plugin-opt=-pass-through=-lc -plugin-opt=-pass-through=-lgcc_s -plugin-opt=-pass-through=-lgcc --build-id --eh-frame-hdr -m elf_x86_64 --hash-style=gnu --as-needed -export-dynamic -dynamic-linker /lib64/ld-linux-x86-64.so.2 -pie -z now -z relro -o cmTC_221a3 /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o /usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o -L/usr/lib/gcc/x86_64-linux-gnu/9 -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu -L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib -L/lib/x86_64-linux-gnu -L/lib/../lib -L/usr/lib/x86_64-linux-gnu -L/usr/lib/../lib -L/usr/lib/gcc/x86_64-linux-gnu/9/../../.. CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o /usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o]
+    arg [/usr/lib/gcc/x86_64-linux-gnu/9/collect2] ==> ignore
+    arg [-plugin] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/9/liblto_plugin.so] ==> ignore
+    arg [-plugin-opt=/usr/lib/gcc/x86_64-linux-gnu/9/lto-wrapper] ==> ignore
+    arg [-plugin-opt=-fresolution=/tmp/ccRAA4OV.res] ==> ignore
+    arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
+    arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
+    arg [-plugin-opt=-pass-through=-lc] ==> ignore
+    arg [-plugin-opt=-pass-through=-lgcc_s] ==> ignore
+    arg [-plugin-opt=-pass-through=-lgcc] ==> ignore
+    arg [--build-id] ==> ignore
+    arg [--eh-frame-hdr] ==> ignore
+    arg [-m] ==> ignore
+    arg [elf_x86_64] ==> ignore
+    arg [--hash-style=gnu] ==> ignore
+    arg [--as-needed] ==> ignore
+    arg [-export-dynamic] ==> ignore
+    arg [-dynamic-linker] ==> ignore
+    arg [/lib64/ld-linux-x86-64.so.2] ==> ignore
+    arg [-pie] ==> ignore
+    arg [-znow] ==> ignore
+    arg [-zrelro] ==> ignore
+    arg [-o] ==> ignore
+    arg [cmTC_221a3] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/Scrt1.o] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crti.o] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtbeginS.o] ==> ignore
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/9] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib]
+    arg [-L/lib/x86_64-linux-gnu] ==> dir [/lib/x86_64-linux-gnu]
+    arg [-L/lib/../lib] ==> dir [/lib/../lib]
+    arg [-L/usr/lib/x86_64-linux-gnu] ==> dir [/usr/lib/x86_64-linux-gnu]
+    arg [-L/usr/lib/../lib] ==> dir [/usr/lib/../lib]
+    arg [-L/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..]
+    arg [CMakeFiles/cmTC_221a3.dir/CMakeCXXCompilerABI.cpp.o] ==> ignore
+    arg [-lstdc++] ==> lib [stdc++]
+    arg [-lm] ==> lib [m]
+    arg [-lgcc_s] ==> lib [gcc_s]
+    arg [-lgcc] ==> lib [gcc]
+    arg [-lc] ==> lib [c]
+    arg [-lgcc_s] ==> lib [gcc_s]
+    arg [-lgcc] ==> lib [gcc]
+    arg [/usr/lib/gcc/x86_64-linux-gnu/9/crtendS.o] ==> ignore
+    arg [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu/crtn.o] ==> ignore
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9] ==> [/usr/lib/gcc/x86_64-linux-gnu/9]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../../../lib] ==> [/usr/lib]
+  collapse library dir [/lib/x86_64-linux-gnu] ==> [/lib/x86_64-linux-gnu]
+  collapse library dir [/lib/../lib] ==> [/lib]
+  collapse library dir [/usr/lib/x86_64-linux-gnu] ==> [/usr/lib/x86_64-linux-gnu]
+  collapse library dir [/usr/lib/../lib] ==> [/usr/lib]
+  collapse library dir [/usr/lib/gcc/x86_64-linux-gnu/9/../../..] ==> [/usr/lib]
+  implicit libs: [stdc++;m;gcc_s;gcc;c;gcc_s;gcc]
+  implicit dirs: [/usr/lib/gcc/x86_64-linux-gnu/9;/usr/lib/x86_64-linux-gnu;/usr/lib;/lib/x86_64-linux-gnu;/lib]
+  implicit fwks: []
+
+
+Determining if the include file pthread.h exists passed with the following output:
+Change Dir: /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp
+
+Run Build Command(s):/usr/bin/make cmTC_329cd/fast && /usr/bin/make -f CMakeFiles/cmTC_329cd.dir/build.make CMakeFiles/cmTC_329cd.dir/build
+make[1]: Entering directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+Building CXX object CMakeFiles/cmTC_329cd.dir/CheckIncludeFile.cxx.o
+/usr/bin/c++     -o CMakeFiles/cmTC_329cd.dir/CheckIncludeFile.cxx.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp/CheckIncludeFile.cxx
+Linking CXX executable cmTC_329cd
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_329cd.dir/link.txt --verbose=1
+/usr/bin/c++       -rdynamic CMakeFiles/cmTC_329cd.dir/CheckIncludeFile.cxx.o  -o cmTC_329cd 
+make[1]: Leaving directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+
+
+
+Determining if the function pthread_create exists in the pthread passed with the following output:
+Change Dir: /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp
+
+Run Build Command(s):/usr/bin/make cmTC_772cd/fast && /usr/bin/make -f CMakeFiles/cmTC_772cd.dir/build.make CMakeFiles/cmTC_772cd.dir/build
+make[1]: Entering directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+Building CXX object CMakeFiles/cmTC_772cd.dir/CheckFunctionExists.cxx.o
+/usr/bin/c++    -DCHECK_FUNCTION_EXISTS=pthread_create   -o CMakeFiles/cmTC_772cd.dir/CheckFunctionExists.cxx.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CheckLibraryExists/CheckFunctionExists.cxx
+Linking CXX executable cmTC_772cd
+/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTC_772cd.dir/link.txt --verbose=1
+/usr/bin/c++   -DCHECK_FUNCTION_EXISTS=pthread_create    -rdynamic CMakeFiles/cmTC_772cd.dir/CheckFunctionExists.cxx.o  -o cmTC_772cd  -lpthread 
+make[1]: Leaving directory '/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/CMakeTmp'
+
+
+

build-standalone-codex-6GdOsi/CMakeFiles/CheckLibraryExists/CheckFunctionExists.cxx

@@ -0,0 +1,28 @@
+#ifdef CHECK_FUNCTION_EXISTS
+
+#  ifdef __cplusplus
+extern "C"
+#  endif
+  char
+  CHECK_FUNCTION_EXISTS(void);
+#  ifdef __CLASSIC_C__
+int main()
+{
+  int ac;
+  char* av[];
+#  else
+int main(int ac, char* av[])
+{
+#  endif
+  CHECK_FUNCTION_EXISTS();
+  if (ac > 1000) {
+    return *av[0];
+  }
+  return 0;
+}
+
+#else /* CHECK_FUNCTION_EXISTS */
+
+#  error "CHECK_FUNCTION_EXISTS has to specify the function"
+
+#endif /* CHECK_FUNCTION_EXISTS */

build-standalone-codex-6GdOsi/CMakeFiles/Export/lib/cmake/recovery_core/recovery_core-targets-noconfig.cmake

@@ -0,0 +1,64 @@
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Import target "recovery_core::recovery_core" for configuration ""
+set_property(TARGET recovery_core::recovery_core APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(recovery_core::recovery_core PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "yaml-cpp"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/librecovery_core.so"
+  IMPORTED_SONAME_NOCONFIG "librecovery_core.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS recovery_core::recovery_core )
+list(APPEND _IMPORT_CHECK_FILES_FOR_recovery_core::recovery_core "${_IMPORT_PREFIX}/lib/librecovery_core.so" )
+
+# Import target "recovery_core::recovery_core_wait_recovery" for configuration ""
+set_property(TARGET recovery_core::recovery_core_wait_recovery APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(recovery_core::recovery_core_wait_recovery PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "yaml-cpp"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/librecovery_core_wait_recovery.so"
+  IMPORTED_SONAME_NOCONFIG "librecovery_core_wait_recovery.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS recovery_core::recovery_core_wait_recovery )
+list(APPEND _IMPORT_CHECK_FILES_FOR_recovery_core::recovery_core_wait_recovery "${_IMPORT_PREFIX}/lib/librecovery_core_wait_recovery.so" )
+
+# Import target "recovery_core::recovery_core_clear_costmap_recovery" for configuration ""
+set_property(TARGET recovery_core::recovery_core_clear_costmap_recovery APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(recovery_core::recovery_core_clear_costmap_recovery PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "yaml-cpp"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/librecovery_core_clear_costmap_recovery.so"
+  IMPORTED_SONAME_NOCONFIG "librecovery_core_clear_costmap_recovery.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS recovery_core::recovery_core_clear_costmap_recovery )
+list(APPEND _IMPORT_CHECK_FILES_FOR_recovery_core::recovery_core_clear_costmap_recovery "${_IMPORT_PREFIX}/lib/librecovery_core_clear_costmap_recovery.so" )
+
+# Import target "recovery_core::recovery_core_rotate_recovery" for configuration ""
+set_property(TARGET recovery_core::recovery_core_rotate_recovery APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(recovery_core::recovery_core_rotate_recovery PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "yaml-cpp"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/librecovery_core_rotate_recovery.so"
+  IMPORTED_SONAME_NOCONFIG "librecovery_core_rotate_recovery.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS recovery_core::recovery_core_rotate_recovery )
+list(APPEND _IMPORT_CHECK_FILES_FOR_recovery_core::recovery_core_rotate_recovery "${_IMPORT_PREFIX}/lib/librecovery_core_rotate_recovery.so" )
+
+# Import target "recovery_core::recovery_core_back_up_recovery" for configuration ""
+set_property(TARGET recovery_core::recovery_core_back_up_recovery APPEND PROPERTY IMPORTED_CONFIGURATIONS NOCONFIG)
+set_target_properties(recovery_core::recovery_core_back_up_recovery PROPERTIES
+  IMPORTED_LINK_DEPENDENT_LIBRARIES_NOCONFIG "yaml-cpp"
+  IMPORTED_LOCATION_NOCONFIG "${_IMPORT_PREFIX}/lib/librecovery_core_back_up_recovery.so"
+  IMPORTED_SONAME_NOCONFIG "librecovery_core_back_up_recovery.so"
+  )
+
+list(APPEND _IMPORT_CHECK_TARGETS recovery_core::recovery_core_back_up_recovery )
+list(APPEND _IMPORT_CHECK_FILES_FOR_recovery_core::recovery_core_back_up_recovery "${_IMPORT_PREFIX}/lib/librecovery_core_back_up_recovery.so" )
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)

build-standalone-codex-6GdOsi/CMakeFiles/Export/lib/cmake/recovery_core/recovery_core-targets.cmake

@@ -0,0 +1,131 @@
+# Generated by CMake
+
+if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.5)
+   message(FATAL_ERROR "CMake >= 2.6.0 required")
+endif()
+cmake_policy(PUSH)
+cmake_policy(VERSION 2.6)
+#----------------------------------------------------------------
+# Generated CMake target import file.
+#----------------------------------------------------------------
+
+# Commands may need to know the format version.
+set(CMAKE_IMPORT_FILE_VERSION 1)
+
+# Protect against multiple inclusion, which would fail when already imported targets are added once more.
+set(_targetsDefined)
+set(_targetsNotDefined)
+set(_expectedTargets)
+foreach(_expectedTarget recovery_core::recovery_core recovery_core::recovery_core_wait_recovery recovery_core::recovery_core_clear_costmap_recovery recovery_core::recovery_core_rotate_recovery recovery_core::recovery_core_back_up_recovery)
+  list(APPEND _expectedTargets ${_expectedTarget})
+  if(NOT TARGET ${_expectedTarget})
+    list(APPEND _targetsNotDefined ${_expectedTarget})
+  endif()
+  if(TARGET ${_expectedTarget})
+    list(APPEND _targetsDefined ${_expectedTarget})
+  endif()
+endforeach()
+if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
+  unset(_targetsDefined)
+  unset(_targetsNotDefined)
+  unset(_expectedTargets)
+  set(CMAKE_IMPORT_FILE_VERSION)
+  cmake_policy(POP)
+  return()
+endif()
+if(NOT "${_targetsDefined}" STREQUAL "")
+  message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
+endif()
+unset(_targetsDefined)
+unset(_targetsNotDefined)
+unset(_expectedTargets)
+
+
+# Compute the installation prefix relative to this file.
+get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
+if(_IMPORT_PREFIX STREQUAL "/")
+  set(_IMPORT_PREFIX "")
+endif()
+
+# Create imported target recovery_core::recovery_core
+add_library(recovery_core::recovery_core SHARED IMPORTED)
+
+set_target_properties(recovery_core::recovery_core PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "robot_costmap_2d;robot_cpp;robot_time;robot_xmlrpcpp"
+)
+
+# Create imported target recovery_core::recovery_core_wait_recovery
+add_library(recovery_core::recovery_core_wait_recovery SHARED IMPORTED)
+
+set_target_properties(recovery_core::recovery_core_wait_recovery PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "recovery_core::recovery_core"
+)
+
+# Create imported target recovery_core::recovery_core_clear_costmap_recovery
+add_library(recovery_core::recovery_core_clear_costmap_recovery SHARED IMPORTED)
+
+set_target_properties(recovery_core::recovery_core_clear_costmap_recovery PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "recovery_core::recovery_core"
+)
+
+# Create imported target recovery_core::recovery_core_rotate_recovery
+add_library(recovery_core::recovery_core_rotate_recovery SHARED IMPORTED)
+
+set_target_properties(recovery_core::recovery_core_rotate_recovery PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "recovery_core::recovery_core"
+)
+
+# Create imported target recovery_core::recovery_core_back_up_recovery
+add_library(recovery_core::recovery_core_back_up_recovery SHARED IMPORTED)
+
+set_target_properties(recovery_core::recovery_core_back_up_recovery PROPERTIES
+  INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
+  INTERFACE_LINK_LIBRARIES "recovery_core::recovery_core"
+)
+
+if(CMAKE_VERSION VERSION_LESS 2.8.12)
+  message(FATAL_ERROR "This file relies on consumers using CMake 2.8.12 or greater.")
+endif()
+
+# Load information for each installed configuration.
+get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
+file(GLOB CONFIG_FILES "${_DIR}/recovery_core-targets-*.cmake")
+foreach(f ${CONFIG_FILES})
+  include(${f})
+endforeach()
+
+# Cleanup temporary variables.
+set(_IMPORT_PREFIX)
+
+# Loop over all imported files and verify that they actually exist
+foreach(target ${_IMPORT_CHECK_TARGETS} )
+  foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
+    if(NOT EXISTS "${file}" )
+      message(FATAL_ERROR "The imported target \"${target}\" references the file
+   \"${file}\"
+but this file does not exist.  Possible reasons include:
+* The file was deleted, renamed, or moved to another location.
+* An install or uninstall procedure did not complete successfully.
+* The installation package was faulty and contained
+   \"${CMAKE_CURRENT_LIST_FILE}\"
+but not all the files it references.
+")
+    endif()
+  endforeach()
+  unset(_IMPORT_CHECK_FILES_FOR_${target})
+endforeach()
+unset(_IMPORT_CHECK_TARGETS)
+
+# This file does not depend on other imported targets which have
+# been exported from the same project but in a separate export set.
+
+# Commands beyond this point should not need to know the version.
+set(CMAKE_IMPORT_FILE_VERSION)
+cmake_policy(POP)

build-standalone-codex-6GdOsi/CMakeFiles/Makefile.cmake

@@ -0,0 +1,209 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# The generator used is:
+set(CMAKE_DEPENDS_GENERATOR "Unix Makefiles")
+
+# The top level Makefile was generated from the following files:
+set(CMAKE_MAKEFILE_DEPENDS
+  "CMakeCache.txt"
+  "../CMakeLists.txt"
+  "CMakeFiles/3.16.3/CMakeCXXCompiler.cmake"
+  "CMakeFiles/3.16.3/CMakeSystem.cmake"
+  "CMakeFiles/CheckLibraryExists/CheckFunctionExists.cxx"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkChartsCore.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkCommonColor.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkCommonComputationalGeometry.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkCommonCore.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkCommonDataModel.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkCommonExecutionModel.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkCommonMath.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkCommonMisc.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkCommonSystem.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkCommonTransforms.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkDICOMParser.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkFiltersCore.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkFiltersExtraction.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkFiltersGeneral.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkFiltersGeometry.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkFiltersHybrid.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkFiltersModeling.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkFiltersSources.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkFiltersStatistics.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkIOCore.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkIOGeometry.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkIOImage.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkIOLegacy.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkIOPLY.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkIOXML.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkIOXMLParser.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkImagingColor.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkImagingCore.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkImagingFourier.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkImagingGeneral.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkImagingHybrid.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkImagingSources.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkInfovisCore.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkInteractionStyle.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkInteractionWidgets.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkMetaIO.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkRenderingAnnotation.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkRenderingContext2D.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkRenderingContextOpenGL2.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkRenderingCore.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkRenderingFreeType.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkRenderingLOD.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkRenderingOpenGL2.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkRenderingVolume.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkUtilitiesEncodeString.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkViewsContext2D.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkViewsCore.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkalglib.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkexpat.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkfreetype.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkglew.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkjpeg.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkkwiml.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkpng.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtksys.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtktiff.cmake"
+  "/usr/lib/cmake/vtk-7.1/Modules/vtkzlib.cmake"
+  "/usr/lib/cmake/vtk-7.1/UseVTK.cmake"
+  "/usr/lib/cmake/vtk-7.1/VTKConfig.cmake"
+  "/usr/lib/cmake/vtk-7.1/VTKConfigVersion.cmake"
+  "/usr/lib/cmake/vtk-7.1/VTKTargets-none.cmake"
+  "/usr/lib/cmake/vtk-7.1/VTKTargets.cmake"
+  "/usr/lib/cmake/vtk-7.1/vtkModuleAPI.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfig.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/Boost-1.71.0/BoostConfigVersion.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/BoostDetectToolset-1.71.0.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_atomic-1.71.0/boost_atomic-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_atomic-1.71.0/boost_atomic-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_atomic-1.71.0/libboost_atomic-variant-shared.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_atomic-1.71.0/libboost_atomic-variant-static.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_filesystem-1.71.0/boost_filesystem-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_filesystem-1.71.0/boost_filesystem-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_filesystem-1.71.0/libboost_filesystem-variant-shared.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_filesystem-1.71.0/libboost_filesystem-variant-static.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_headers-1.71.0/boost_headers-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_headers-1.71.0/boost_headers-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_system-1.71.0/boost_system-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_system-1.71.0/boost_system-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_system-1.71.0/libboost_system-variant-shared.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_system-1.71.0/libboost_system-variant-static.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/boost_thread-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/boost_thread-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/libboost_thread-variant-shared.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/boost_thread-1.71.0/libboost_thread-variant-static.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindEigen.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindOpenNI.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/pcl/Modules/FindOpenNI2.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfig.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/pcl/PCLConfigVersion.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/yaml-cpp/yaml-cpp-config-version.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/yaml-cpp/yaml-cpp-config.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/yaml-cpp/yaml-cpp-targets-release.cmake"
+  "/usr/lib/x86_64-linux-gnu/cmake/yaml-cpp/yaml-cpp-targets.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeCXXCompiler.cmake.in"
+  "/usr/share/cmake-3.16/Modules/CMakeCXXCompilerABI.cpp"
+  "/usr/share/cmake-3.16/Modules/CMakeCXXInformation.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeCheckCompilerFlagCommonPatterns.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeCommonLanguageInclude.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeCompilerIdDetection.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeDetermineCXXCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeDetermineCompileFeatures.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeDetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeDetermineCompilerABI.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeDetermineCompilerId.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeDetermineSystem.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeFindBinUtils.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeFindDependencyMacro.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeGenericSystem.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeInitializeConfigs.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeLanguageInformation.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeParseImplicitIncludeInfo.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeParseImplicitLinkInfo.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeSystem.cmake.in"
+  "/usr/share/cmake-3.16/Modules/CMakeSystemSpecificInformation.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeSystemSpecificInitialize.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeTestCXXCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeTestCompilerCommon.cmake"
+  "/usr/share/cmake-3.16/Modules/CMakeUnixFindMake.cmake"
+  "/usr/share/cmake-3.16/Modules/CheckCXXSourceCompiles.cmake"
+  "/usr/share/cmake-3.16/Modules/CheckFunctionExists.c"
+  "/usr/share/cmake-3.16/Modules/CheckIncludeFile.cxx.in"
+  "/usr/share/cmake-3.16/Modules/CheckIncludeFileCXX.cmake"
+  "/usr/share/cmake-3.16/Modules/CheckLibraryExists.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/ADSP-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/ARMCC-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/ARMClang-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/AppleClang-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Borland-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/CMakeCommonCompilerMacros.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Clang-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Clang-DetermineCompilerInternal.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Comeau-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Compaq-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Cray-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Embarcadero-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Fujitsu-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/GHS-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/GNU-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/GNU-CXX.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/GNU-FindBinUtils.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/GNU.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/HP-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/IAR-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/IBMCPP-CXX-DetermineVersionInternal.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Intel-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/MSVC-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/NVIDIA-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/OpenWatcom-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/PGI-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/PathScale-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/SCO-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/SunPro-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/TI-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/VisualAge-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/Watcom-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/XL-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/XLClang-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/Compiler/zOS-CXX-DetermineCompiler.cmake"
+  "/usr/share/cmake-3.16/Modules/FindBoost.cmake"
+  "/usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake"
+  "/usr/share/cmake-3.16/Modules/FindPackageMessage.cmake"
+  "/usr/share/cmake-3.16/Modules/FindPkgConfig.cmake"
+  "/usr/share/cmake-3.16/Modules/FindThreads.cmake"
+  "/usr/share/cmake-3.16/Modules/Internal/CMakeCheckCompilerFlag.cmake"
+  "/usr/share/cmake-3.16/Modules/Internal/FeatureTesting.cmake"
+  "/usr/share/cmake-3.16/Modules/Platform/Linux-Determine-CXX.cmake"
+  "/usr/share/cmake-3.16/Modules/Platform/Linux-GNU-CXX.cmake"
+  "/usr/share/cmake-3.16/Modules/Platform/Linux-GNU.cmake"
+  "/usr/share/cmake-3.16/Modules/Platform/Linux.cmake"
+  "/usr/share/cmake-3.16/Modules/Platform/UnixPaths.cmake"
+  )
+
+# The corresponding makefile is:
+set(CMAKE_MAKEFILE_OUTPUTS
+  "Makefile"
+  "CMakeFiles/cmake.check_cache"
+  )
+
+# Byproducts of CMake generate step:
+set(CMAKE_MAKEFILE_PRODUCTS
+  "CMakeFiles/3.16.3/CMakeSystem.cmake"
+  "CMakeFiles/3.16.3/CMakeCXXCompiler.cmake"
+  "CMakeFiles/3.16.3/CMakeCXXCompiler.cmake"
+  "CMakeFiles/CheckLibraryExists/CheckFunctionExists.cxx"
+  "CMakeFiles/CheckLibraryExists/CheckFunctionExists.cxx"
+  "CMakeFiles/CMakeDirectoryInformation.cmake"
+  )
+
+# Dependency information for all targets:
+set(CMAKE_DEPEND_INFO_FILES
+  "CMakeFiles/recovery_core_back_up_recovery.dir/DependInfo.cmake"
+  "CMakeFiles/recovery_core_clear_costmap_recovery.dir/DependInfo.cmake"
+  "CMakeFiles/recovery_core_wait_recovery.dir/DependInfo.cmake"
+  "CMakeFiles/recovery_core_rotate_recovery.dir/DependInfo.cmake"
+  "CMakeFiles/recovery_core.dir/DependInfo.cmake"
+  )

build-standalone-codex-6GdOsi/CMakeFiles/Makefile2

@@ -0,0 +1,222 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Default target executed when no arguments are given to make.
+default_target: all
+
+.PHONY : default_target
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi
+
+#=============================================================================
+# Directory level rules for the build root directory
+
+# The main recursive "all" target.
+all: CMakeFiles/recovery_core_back_up_recovery.dir/all
+all: CMakeFiles/recovery_core_clear_costmap_recovery.dir/all
+all: CMakeFiles/recovery_core_wait_recovery.dir/all
+all: CMakeFiles/recovery_core_rotate_recovery.dir/all
+all: CMakeFiles/recovery_core.dir/all
+
+.PHONY : all
+
+# The main recursive "preinstall" target.
+preinstall:
+
+.PHONY : preinstall
+
+# The main recursive "clean" target.
+clean: CMakeFiles/recovery_core_back_up_recovery.dir/clean
+clean: CMakeFiles/recovery_core_clear_costmap_recovery.dir/clean
+clean: CMakeFiles/recovery_core_wait_recovery.dir/clean
+clean: CMakeFiles/recovery_core_rotate_recovery.dir/clean
+clean: CMakeFiles/recovery_core.dir/clean
+
+.PHONY : clean
+
+#=============================================================================
+# Target rules for target CMakeFiles/recovery_core_back_up_recovery.dir
+
+# All Build rule for target.
+CMakeFiles/recovery_core_back_up_recovery.dir/all: CMakeFiles/recovery_core.dir/all
+	$(MAKE) -f CMakeFiles/recovery_core_back_up_recovery.dir/build.make CMakeFiles/recovery_core_back_up_recovery.dir/depend
+	$(MAKE) -f CMakeFiles/recovery_core_back_up_recovery.dir/build.make CMakeFiles/recovery_core_back_up_recovery.dir/build
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=7,8 "Built target recovery_core_back_up_recovery"
+.PHONY : CMakeFiles/recovery_core_back_up_recovery.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/recovery_core_back_up_recovery.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 8
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/recovery_core_back_up_recovery.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 0
+.PHONY : CMakeFiles/recovery_core_back_up_recovery.dir/rule
+
+# Convenience name for target.
+recovery_core_back_up_recovery: CMakeFiles/recovery_core_back_up_recovery.dir/rule
+
+.PHONY : recovery_core_back_up_recovery
+
+# clean rule for target.
+CMakeFiles/recovery_core_back_up_recovery.dir/clean:
+	$(MAKE) -f CMakeFiles/recovery_core_back_up_recovery.dir/build.make CMakeFiles/recovery_core_back_up_recovery.dir/clean
+.PHONY : CMakeFiles/recovery_core_back_up_recovery.dir/clean
+
+#=============================================================================
+# Target rules for target CMakeFiles/recovery_core_clear_costmap_recovery.dir
+
+# All Build rule for target.
+CMakeFiles/recovery_core_clear_costmap_recovery.dir/all: CMakeFiles/recovery_core.dir/all
+	$(MAKE) -f CMakeFiles/recovery_core_clear_costmap_recovery.dir/build.make CMakeFiles/recovery_core_clear_costmap_recovery.dir/depend
+	$(MAKE) -f CMakeFiles/recovery_core_clear_costmap_recovery.dir/build.make CMakeFiles/recovery_core_clear_costmap_recovery.dir/build
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=9,10 "Built target recovery_core_clear_costmap_recovery"
+.PHONY : CMakeFiles/recovery_core_clear_costmap_recovery.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/recovery_core_clear_costmap_recovery.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 8
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/recovery_core_clear_costmap_recovery.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 0
+.PHONY : CMakeFiles/recovery_core_clear_costmap_recovery.dir/rule
+
+# Convenience name for target.
+recovery_core_clear_costmap_recovery: CMakeFiles/recovery_core_clear_costmap_recovery.dir/rule
+
+.PHONY : recovery_core_clear_costmap_recovery
+
+# clean rule for target.
+CMakeFiles/recovery_core_clear_costmap_recovery.dir/clean:
+	$(MAKE) -f CMakeFiles/recovery_core_clear_costmap_recovery.dir/build.make CMakeFiles/recovery_core_clear_costmap_recovery.dir/clean
+.PHONY : CMakeFiles/recovery_core_clear_costmap_recovery.dir/clean
+
+#=============================================================================
+# Target rules for target CMakeFiles/recovery_core_wait_recovery.dir
+
+# All Build rule for target.
+CMakeFiles/recovery_core_wait_recovery.dir/all: CMakeFiles/recovery_core.dir/all
+	$(MAKE) -f CMakeFiles/recovery_core_wait_recovery.dir/build.make CMakeFiles/recovery_core_wait_recovery.dir/depend
+	$(MAKE) -f CMakeFiles/recovery_core_wait_recovery.dir/build.make CMakeFiles/recovery_core_wait_recovery.dir/build
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=13,14 "Built target recovery_core_wait_recovery"
+.PHONY : CMakeFiles/recovery_core_wait_recovery.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/recovery_core_wait_recovery.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 8
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/recovery_core_wait_recovery.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 0
+.PHONY : CMakeFiles/recovery_core_wait_recovery.dir/rule
+
+# Convenience name for target.
+recovery_core_wait_recovery: CMakeFiles/recovery_core_wait_recovery.dir/rule
+
+.PHONY : recovery_core_wait_recovery
+
+# clean rule for target.
+CMakeFiles/recovery_core_wait_recovery.dir/clean:
+	$(MAKE) -f CMakeFiles/recovery_core_wait_recovery.dir/build.make CMakeFiles/recovery_core_wait_recovery.dir/clean
+.PHONY : CMakeFiles/recovery_core_wait_recovery.dir/clean
+
+#=============================================================================
+# Target rules for target CMakeFiles/recovery_core_rotate_recovery.dir
+
+# All Build rule for target.
+CMakeFiles/recovery_core_rotate_recovery.dir/all: CMakeFiles/recovery_core.dir/all
+	$(MAKE) -f CMakeFiles/recovery_core_rotate_recovery.dir/build.make CMakeFiles/recovery_core_rotate_recovery.dir/depend
+	$(MAKE) -f CMakeFiles/recovery_core_rotate_recovery.dir/build.make CMakeFiles/recovery_core_rotate_recovery.dir/build
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=11,12 "Built target recovery_core_rotate_recovery"
+.PHONY : CMakeFiles/recovery_core_rotate_recovery.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/recovery_core_rotate_recovery.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 8
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/recovery_core_rotate_recovery.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 0
+.PHONY : CMakeFiles/recovery_core_rotate_recovery.dir/rule
+
+# Convenience name for target.
+recovery_core_rotate_recovery: CMakeFiles/recovery_core_rotate_recovery.dir/rule
+
+.PHONY : recovery_core_rotate_recovery
+
+# clean rule for target.
+CMakeFiles/recovery_core_rotate_recovery.dir/clean:
+	$(MAKE) -f CMakeFiles/recovery_core_rotate_recovery.dir/build.make CMakeFiles/recovery_core_rotate_recovery.dir/clean
+.PHONY : CMakeFiles/recovery_core_rotate_recovery.dir/clean
+
+#=============================================================================
+# Target rules for target CMakeFiles/recovery_core.dir
+
+# All Build rule for target.
+CMakeFiles/recovery_core.dir/all:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/depend
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/build
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=1,2,3,4,5,6 "Built target recovery_core"
+.PHONY : CMakeFiles/recovery_core.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/recovery_core.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 6
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/recovery_core.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 0
+.PHONY : CMakeFiles/recovery_core.dir/rule
+
+# Convenience name for target.
+recovery_core: CMakeFiles/recovery_core.dir/rule
+
+.PHONY : recovery_core
+
+# clean rule for target.
+CMakeFiles/recovery_core.dir/clean:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/clean
+.PHONY : CMakeFiles/recovery_core.dir/clean
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

build-standalone-codex-6GdOsi/CMakeFiles/Progress/1

@@ -0,0 +1 @@
+empty

build-standalone-codex-6GdOsi/CMakeFiles/Progress/2

@@ -0,0 +1 @@
+empty

build-standalone-codex-6GdOsi/CMakeFiles/Progress/3

@@ -0,0 +1 @@
+empty

build-standalone-codex-6GdOsi/CMakeFiles/Progress/4

@@ -0,0 +1 @@
+empty

build-standalone-codex-6GdOsi/CMakeFiles/Progress/count.txt

@@ -0,0 +1 @@
+14

build-standalone-codex-6GdOsi/CMakeFiles/TargetDirectories.txt

@@ -0,0 +1,11 @@
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/install.dir
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/list_install_components.dir
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/rebuild_cache.dir
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/edit_cache.dir
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/install/local.dir
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_back_up_recovery.dir
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_clear_costmap_recovery.dir
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_wait_recovery.dir
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/install/strip.dir
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_rotate_recovery.dir
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir

build-standalone-codex-6GdOsi/CMakeFiles/cmake.check_cache

@@ -0,0 +1 @@
+# This file is generated by cmake for dependency checking of the CMakeCache.txt file

build-standalone-codex-6GdOsi/CMakeFiles/progress.marks

@@ -0,0 +1 @@
+14

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/CXX.includecache

@@ -0,0 +1,124 @@
+#IncludeRegexLine: ^[ 	]*[#%][ 	]*(include|import)[ 	]*[<"]([^">]+)([">])
+
+#IncludeRegexScan: ^.*$
+
+#IncludeRegexComplain: ^$
+
+#IncludeRegexTransform: 
+
+../include/recovery_core/adapters/costmap_collision_checker.h
+vector
+-
+robot_geometry_msgs/Point.h
+-
+recovery_core/recovery_context.h
+-
+
+../include/recovery_core/adapters/costmap_pose_provider.h
+recovery_core/recovery_context.h
+-
+
+../include/recovery_core/recovery_behavior.h
+memory
+-
+string
+-
+robot/node_handle.h
+-
+robot/time.h
+-
+recovery_core/recovery_context.h
+-
+recovery_core/recovery_types.h
+-
+
+../include/recovery_core/recovery_context.h
+vector
+-
+robot_geometry_msgs/PoseStamped.h
+-
+
+../include/recovery_core/recovery_registry.h
+cstddef
+-
+functional
+-
+string
+-
+vector
+-
+robot/node_handle.h
+-
+recovery_core/recovery_behavior.h
+-
+recovery_core/recovery_context.h
+-
+
+../include/recovery_core/recovery_types.h
+map
+-
+optional
+-
+string
+-
+robot_geometry_msgs/PoseStamped.h
+-
+robot_geometry_msgs/Twist.h
+-
+robot_nav_msgs/Path.h
+-
+recovery_core/recovery_context.h
+-
+
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_collision_checker.cpp
+recovery_core/adapters/costmap_collision_checker.h
+-
+algorithm
+-
+cmath
+-
+utility
+-
+robot_costmap_2d/cost_values.h
+-
+robot_costmap_2d/costmap_2d.h
+-
+robot_costmap_2d/costmap_2d_robot.h
+-
+robot_costmap_2d/footprint.h
+-
+
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_pose_provider.cpp
+recovery_core/adapters/costmap_pose_provider.h
+-
+robot_costmap_2d/costmap_2d_robot.h
+-
+
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_behavior.cpp
+recovery_core/recovery_behavior.h
+-
+cmath
+-
+robot/robot.h
+-
+
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_registry.cpp
+recovery_core/recovery_registry.h
+-
+utility
+-
+boost/dll/import.hpp
+-
+boost/system/system_error.hpp
+-
+yaml-cpp/yaml.h
+-
+robot/robot.h
+-
+
+/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_types.cpp
+recovery_core/recovery_types.h
+-
+utility
+-
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/DependInfo.cmake

@@ -0,0 +1,77 @@
+# The set of languages for which implicit dependencies are needed:
+set(CMAKE_DEPENDS_LANGUAGES
+  "CXX"
+  )
+# The set of files for implicit dependencies of each language:
+set(CMAKE_DEPENDS_CHECK_CXX
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_collision_checker.cpp" "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o"
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_pose_provider.cpp" "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o"
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_behavior.cpp" "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o"
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_registry.cpp" "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o"
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_types.cpp" "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o"
+  )
+set(CMAKE_CXX_COMPILER_ID "GNU")
+
+# Preprocessor definitions for this target.
+set(CMAKE_TARGET_DEFINITIONS_CXX
+  "BOOST_ALL_NO_LIB"
+  "BOOST_ATOMIC_DYN_LINK"
+  "BOOST_FILESYSTEM_DYN_LINK"
+  "BOOST_SYSTEM_DYN_LINK"
+  "BOOST_THREAD_DYN_LINK"
+  "DISABLE_LIBUSB_1_0"
+  "DISABLE_PCAP"
+  "DISABLE_PNG"
+  "recovery_core_EXPORTS"
+  "vtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL2)"
+  "vtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)"
+  )
+
+# The include file search paths:
+set(CMAKE_CXX_TARGET_INCLUDE_PATH
+  "/usr/include/vtk-7.1"
+  "/usr/include/freetype2"
+  "../include"
+  "../../../../AMR_T800/Controllers/Packages/amr_comunication/include"
+  "../../../../AMR_T800/Controllers/Packages/amr_control/include"
+  "../../../../AMR_T800/Controllers/Packages/nova5_control/include"
+  "../../../../AMR_T800/Devices/Cores/models/include"
+  "../../../../AMR_T800/Devices/Packages/diff_wheel_plugin/include"
+  "../../../../AMR_T800/Devices/Packages/ros_kinematics/include"
+  "../../../../AMR_T800/Devices/Packages/sick_line_guidance/include"
+  "../../../../AMR_T800/Devices/Packages/wit_wt901ble_reader/include"
+  "../../../../AMR_T800/Localizations/Cores/loc_core/include"
+  "../../../../AMR_T800/Localizations/Packages/loc_base/include"
+  "../../../../AMR_T800/Localizations/Packages/robot_localization/include"
+  "../../../../AMR_T800/Test/AGV_auto_docking/laser_line_extraction/include"
+  "../../../../AMR_T800/Test/action_core/include"
+  "../../../../AMR_T800/Test/angles/include"
+  "../../../../AMR_T800/Test/base_local_planner/include"
+  "../../../../AMR_T800/Test/deep_mpc_local_planner/include"
+  "../../../../AMR_T800/Test/depth_image_proc/include"
+  "../../../../AMR_T800/Test/grid_map_core/include"
+  "../../../../AMR_T800/Test/hybrid_local_planner/include"
+  "../../../../AMR_T800/Test/image_geometry/include"
+  "../../../../AMR_T800/Test/mission_adapters/include"
+  "../../../../AMR_T800/Test/move_base2/include"
+  "../../../../AMR_T800/Test/mppi_local_planner/include"
+  "../../../../AMR_T800/Test/nav_ros_bridge/include"
+  "../../../../AMR_T800/Test/nav_test_harness/include"
+  "../../../../AMR_T800/Test/priest_local_planner/include"
+  "../../../../AMR_T800/Test/recovery_core/include"
+  "../../../../AMR_T800/Test/sbpl/src/include"
+  "../../../../AMR_T800/Test/sbpl_lattice_planner/include"
+  "../../../../AMR_T800/Test/stanley_local_planner/include"
+  "/usr/include/pcl-1.10"
+  "/usr/include/eigen3"
+  "/usr/include/ni"
+  "/usr/include/openni2"
+  "/opt/ros/noetic/include"
+  )
+
+# Targets to which this target links.
+set(CMAKE_TARGET_LINKED_INFO_FILES
+  )
+
+# Fortran module output directory.
+set(CMAKE_Fortran_TARGET_MODULE_DIR "")

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/build.make

@@ -0,0 +1,164 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Delete rule output on recipe failure.
+.DELETE_ON_ERROR:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi
+
+# Include any dependencies generated for this target.
+include CMakeFiles/recovery_core.dir/depend.make
+
+# Include the progress variables for this target.
+include CMakeFiles/recovery_core.dir/progress.make
+
+# Include the compile flags for this target's objects.
+include CMakeFiles/recovery_core.dir/flags.make
+
+CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o: CMakeFiles/recovery_core.dir/flags.make
+CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o: ../src/recovery_types.cpp
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_1) "Building CXX object CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o"
+	/usr/bin/c++  $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_types.cpp
+
+CMakeFiles/recovery_core.dir/src/recovery_types.cpp.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/recovery_core.dir/src/recovery_types.cpp.i"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_types.cpp > CMakeFiles/recovery_core.dir/src/recovery_types.cpp.i
+
+CMakeFiles/recovery_core.dir/src/recovery_types.cpp.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/recovery_core.dir/src/recovery_types.cpp.s"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_types.cpp -o CMakeFiles/recovery_core.dir/src/recovery_types.cpp.s
+
+CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o: CMakeFiles/recovery_core.dir/flags.make
+CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o: ../src/recovery_behavior.cpp
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "Building CXX object CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o"
+	/usr/bin/c++  $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_behavior.cpp
+
+CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.i"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_behavior.cpp > CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.i
+
+CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.s"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_behavior.cpp -o CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.s
+
+CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o: CMakeFiles/recovery_core.dir/flags.make
+CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o: ../src/recovery_registry.cpp
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_3) "Building CXX object CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o"
+	/usr/bin/c++  $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_registry.cpp
+
+CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.i"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_registry.cpp > CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.i
+
+CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.s"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_registry.cpp -o CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.s
+
+CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o: CMakeFiles/recovery_core.dir/flags.make
+CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o: ../adapters/costmap_pose_provider.cpp
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_4) "Building CXX object CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o"
+	/usr/bin/c++  $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_pose_provider.cpp
+
+CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.i"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_pose_provider.cpp > CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.i
+
+CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.s"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_pose_provider.cpp -o CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.s
+
+CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o: CMakeFiles/recovery_core.dir/flags.make
+CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o: ../adapters/costmap_collision_checker.cpp
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_5) "Building CXX object CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o"
+	/usr/bin/c++  $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_collision_checker.cpp
+
+CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.i"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_collision_checker.cpp > CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.i
+
+CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.s"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_collision_checker.cpp -o CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.s
+
+# Object files for target recovery_core
+recovery_core_OBJECTS = \
+"CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o" \
+"CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o" \
+"CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o" \
+"CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o" \
+"CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o"
+
+# External object files for target recovery_core
+recovery_core_EXTERNAL_OBJECTS =
+
+librecovery_core.so: CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o
+librecovery_core.so: CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o
+librecovery_core.so: CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o
+librecovery_core.so: CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o
+librecovery_core.so: CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o
+librecovery_core.so: CMakeFiles/recovery_core.dir/build.make
+librecovery_core.so: /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0
+librecovery_core.so: /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
+librecovery_core.so: /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0
+librecovery_core.so: /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.6.2
+librecovery_core.so: /usr/local/lib/libtf3.so
+librecovery_core.so: /usr/lib/x86_64-linux-gnu/libboost_atomic.so.1.71.0
+librecovery_core.so: CMakeFiles/recovery_core.dir/link.txt
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_6) "Linking CXX shared library librecovery_core.so"
+	$(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/recovery_core.dir/link.txt --verbose=$(VERBOSE)
+
+# Rule to build all files generated by this target.
+CMakeFiles/recovery_core.dir/build: librecovery_core.so
+
+.PHONY : CMakeFiles/recovery_core.dir/build
+
+CMakeFiles/recovery_core.dir/clean:
+	$(CMAKE_COMMAND) -P CMakeFiles/recovery_core.dir/cmake_clean.cmake
+.PHONY : CMakeFiles/recovery_core.dir/clean
+
+CMakeFiles/recovery_core.dir/depend:
+	cd /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : CMakeFiles/recovery_core.dir/depend
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/cmake_clean.cmake

@@ -0,0 +1,14 @@
+file(REMOVE_RECURSE
+  "CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o"
+  "CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o"
+  "CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o"
+  "CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o"
+  "CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o"
+  "librecovery_core.pdb"
+  "librecovery_core.so"
+)
+
+# Per-language clean rules from dependency scanning.
+foreach(lang CXX)
+  include(CMakeFiles/recovery_core.dir/cmake_clean_${lang}.cmake OPTIONAL)
+endforeach()

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/depend.internal

@@ -0,0 +1,26 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o
+ ../include/recovery_core/adapters/costmap_collision_checker.h
+ ../include/recovery_core/recovery_context.h
+ /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_collision_checker.cpp
+CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o
+ ../include/recovery_core/adapters/costmap_pose_provider.h
+ ../include/recovery_core/recovery_context.h
+ /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/adapters/costmap_pose_provider.cpp
+CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o
+ ../include/recovery_core/recovery_behavior.h
+ ../include/recovery_core/recovery_context.h
+ ../include/recovery_core/recovery_types.h
+ /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_behavior.cpp
+CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o
+ ../include/recovery_core/recovery_behavior.h
+ ../include/recovery_core/recovery_context.h
+ ../include/recovery_core/recovery_registry.h
+ ../include/recovery_core/recovery_types.h
+ /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_registry.cpp
+CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o
+ ../include/recovery_core/recovery_context.h
+ ../include/recovery_core/recovery_types.h
+ /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/src/recovery_types.cpp

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/depend.make

@@ -0,0 +1,26 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o: ../include/recovery_core/adapters/costmap_collision_checker.h
+CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o: ../include/recovery_core/recovery_context.h
+CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o: ../adapters/costmap_collision_checker.cpp
+
+CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o: ../include/recovery_core/adapters/costmap_pose_provider.h
+CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o: ../include/recovery_core/recovery_context.h
+CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o: ../adapters/costmap_pose_provider.cpp
+
+CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o: ../include/recovery_core/recovery_behavior.h
+CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o: ../include/recovery_core/recovery_context.h
+CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o: ../include/recovery_core/recovery_types.h
+CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o: ../src/recovery_behavior.cpp
+
+CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o: ../include/recovery_core/recovery_behavior.h
+CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o: ../include/recovery_core/recovery_context.h
+CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o: ../include/recovery_core/recovery_registry.h
+CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o: ../include/recovery_core/recovery_types.h
+CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o: ../src/recovery_registry.cpp
+
+CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o: ../include/recovery_core/recovery_context.h
+CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o: ../include/recovery_core/recovery_types.h
+CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o: ../src/recovery_types.cpp
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/flags.make

@@ -0,0 +1,10 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# compile CXX with /usr/bin/c++
+CXX_FLAGS =   -fPIC   -Wall -Wextra -std=c++17
+
+CXX_DEFINES = -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DDISABLE_LIBUSB_1_0 -DDISABLE_PCAP -DDISABLE_PNG -Drecovery_core_EXPORTS -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL2)" -DvtkRenderingCore_AUTOINIT="3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)"
+
+CXX_INCLUDES = -I/usr/include/vtk-7.1 -I/usr/include/freetype2 -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/amr_comunication/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/amr_control/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/nova5_control/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Cores/models/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/diff_wheel_plugin/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/ros_kinematics/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/sick_line_guidance/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/wit_wt901ble_reader/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Cores/loc_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Packages/loc_base/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Packages/robot_localization/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/AGV_auto_docking/laser_line_extraction/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/action_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/angles/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/base_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/deep_mpc_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/depth_image_proc/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/grid_map_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/hybrid_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/image_geometry/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/mission_adapters/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/move_base2/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/mppi_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/nav_ros_bridge/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/nav_test_harness/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/priest_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/recovery_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/sbpl/src/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/sbpl_lattice_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/stanley_local_planner/include -I/usr/include/pcl-1.10 -I/usr/include/eigen3 -I/usr/include/ni -I/usr/include/openni2 -I/opt/ros/noetic/include 
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/link.txt

@@ -0,0 +1 @@
+/usr/bin/c++ -fPIC     -shared -Wl,-soname,librecovery_core.so -o librecovery_core.so CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o   -L/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib  -L/usr/local/lib  -Wl,-rpath,/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi:/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib:/usr/local/lib: -lrobot_costmap_2d -lrobot_cpp -lrobot_time -lrobot_xmlrpcpp /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0 /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.6.2 -ldl /usr/local/lib/libtf3.so -lpthread /usr/lib/x86_64-linux-gnu/libboost_atomic.so.1.71.0 

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/progress.make

@@ -0,0 +1,7 @@
+CMAKE_PROGRESS_1 = 1
+CMAKE_PROGRESS_2 = 2
+CMAKE_PROGRESS_3 = 3
+CMAKE_PROGRESS_4 = 4
+CMAKE_PROGRESS_5 = 5
+CMAKE_PROGRESS_6 = 6
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_back_up_recovery.dir/DependInfo.cmake

@@ -0,0 +1,74 @@
+# The set of languages for which implicit dependencies are needed:
+set(CMAKE_DEPENDS_LANGUAGES
+  "CXX"
+  )
+# The set of files for implicit dependencies of each language:
+set(CMAKE_DEPENDS_CHECK_CXX
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/back_up_recovery.cpp" "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.o"
+  )
+set(CMAKE_CXX_COMPILER_ID "GNU")
+
+# Preprocessor definitions for this target.
+set(CMAKE_TARGET_DEFINITIONS_CXX
+  "BOOST_ALL_NO_LIB"
+  "BOOST_ATOMIC_DYN_LINK"
+  "BOOST_FILESYSTEM_DYN_LINK"
+  "BOOST_SYSTEM_DYN_LINK"
+  "BOOST_THREAD_DYN_LINK"
+  "DISABLE_LIBUSB_1_0"
+  "DISABLE_PCAP"
+  "DISABLE_PNG"
+  "recovery_core_back_up_recovery_EXPORTS"
+  "vtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL2)"
+  "vtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)"
+  )
+
+# The include file search paths:
+set(CMAKE_CXX_TARGET_INCLUDE_PATH
+  "/usr/include/vtk-7.1"
+  "/usr/include/freetype2"
+  "../include"
+  "../../../../AMR_T800/Controllers/Packages/amr_comunication/include"
+  "../../../../AMR_T800/Controllers/Packages/amr_control/include"
+  "../../../../AMR_T800/Controllers/Packages/nova5_control/include"
+  "../../../../AMR_T800/Devices/Cores/models/include"
+  "../../../../AMR_T800/Devices/Packages/diff_wheel_plugin/include"
+  "../../../../AMR_T800/Devices/Packages/ros_kinematics/include"
+  "../../../../AMR_T800/Devices/Packages/sick_line_guidance/include"
+  "../../../../AMR_T800/Devices/Packages/wit_wt901ble_reader/include"
+  "../../../../AMR_T800/Localizations/Cores/loc_core/include"
+  "../../../../AMR_T800/Localizations/Packages/loc_base/include"
+  "../../../../AMR_T800/Localizations/Packages/robot_localization/include"
+  "../../../../AMR_T800/Test/AGV_auto_docking/laser_line_extraction/include"
+  "../../../../AMR_T800/Test/action_core/include"
+  "../../../../AMR_T800/Test/angles/include"
+  "../../../../AMR_T800/Test/base_local_planner/include"
+  "../../../../AMR_T800/Test/deep_mpc_local_planner/include"
+  "../../../../AMR_T800/Test/depth_image_proc/include"
+  "../../../../AMR_T800/Test/grid_map_core/include"
+  "../../../../AMR_T800/Test/hybrid_local_planner/include"
+  "../../../../AMR_T800/Test/image_geometry/include"
+  "../../../../AMR_T800/Test/mission_adapters/include"
+  "../../../../AMR_T800/Test/move_base2/include"
+  "../../../../AMR_T800/Test/mppi_local_planner/include"
+  "../../../../AMR_T800/Test/nav_ros_bridge/include"
+  "../../../../AMR_T800/Test/nav_test_harness/include"
+  "../../../../AMR_T800/Test/priest_local_planner/include"
+  "../../../../AMR_T800/Test/recovery_core/include"
+  "../../../../AMR_T800/Test/sbpl/src/include"
+  "../../../../AMR_T800/Test/sbpl_lattice_planner/include"
+  "../../../../AMR_T800/Test/stanley_local_planner/include"
+  "/usr/include/pcl-1.10"
+  "/usr/include/eigen3"
+  "/usr/include/ni"
+  "/usr/include/openni2"
+  "/opt/ros/noetic/include"
+  )
+
+# Targets to which this target links.
+set(CMAKE_TARGET_LINKED_INFO_FILES
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/DependInfo.cmake"
+  )
+
+# Fortran module output directory.
+set(CMAKE_Fortran_TARGET_MODULE_DIR "")

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_back_up_recovery.dir/build.make

@@ -0,0 +1,105 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Delete rule output on recipe failure.
+.DELETE_ON_ERROR:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi
+
+# Include any dependencies generated for this target.
+include CMakeFiles/recovery_core_back_up_recovery.dir/depend.make
+
+# Include the progress variables for this target.
+include CMakeFiles/recovery_core_back_up_recovery.dir/progress.make
+
+# Include the compile flags for this target's objects.
+include CMakeFiles/recovery_core_back_up_recovery.dir/flags.make
+
+CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.o: CMakeFiles/recovery_core_back_up_recovery.dir/flags.make
+CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.o: ../plugins/back_up_recovery.cpp
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_1) "Building CXX object CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.o"
+	/usr/bin/c++  $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/back_up_recovery.cpp
+
+CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.i"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/back_up_recovery.cpp > CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.i
+
+CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.s"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/back_up_recovery.cpp -o CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.s
+
+# Object files for target recovery_core_back_up_recovery
+recovery_core_back_up_recovery_OBJECTS = \
+"CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.o"
+
+# External object files for target recovery_core_back_up_recovery
+recovery_core_back_up_recovery_EXTERNAL_OBJECTS =
+
+librecovery_core_back_up_recovery.so: CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.o
+librecovery_core_back_up_recovery.so: CMakeFiles/recovery_core_back_up_recovery.dir/build.make
+librecovery_core_back_up_recovery.so: librecovery_core.so
+librecovery_core_back_up_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0
+librecovery_core_back_up_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
+librecovery_core_back_up_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0
+librecovery_core_back_up_recovery.so: /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.6.2
+librecovery_core_back_up_recovery.so: /usr/local/lib/libtf3.so
+librecovery_core_back_up_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_atomic.so.1.71.0
+librecovery_core_back_up_recovery.so: CMakeFiles/recovery_core_back_up_recovery.dir/link.txt
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "Linking CXX shared library librecovery_core_back_up_recovery.so"
+	$(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/recovery_core_back_up_recovery.dir/link.txt --verbose=$(VERBOSE)
+
+# Rule to build all files generated by this target.
+CMakeFiles/recovery_core_back_up_recovery.dir/build: librecovery_core_back_up_recovery.so
+
+.PHONY : CMakeFiles/recovery_core_back_up_recovery.dir/build
+
+CMakeFiles/recovery_core_back_up_recovery.dir/clean:
+	$(CMAKE_COMMAND) -P CMakeFiles/recovery_core_back_up_recovery.dir/cmake_clean.cmake
+.PHONY : CMakeFiles/recovery_core_back_up_recovery.dir/clean
+
+CMakeFiles/recovery_core_back_up_recovery.dir/depend:
+	cd /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_back_up_recovery.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : CMakeFiles/recovery_core_back_up_recovery.dir/depend
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_back_up_recovery.dir/cmake_clean.cmake

@@ -0,0 +1,10 @@
+file(REMOVE_RECURSE
+  "CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.o"
+  "librecovery_core_back_up_recovery.pdb"
+  "librecovery_core_back_up_recovery.so"
+)
+
+# Per-language clean rules from dependency scanning.
+foreach(lang CXX)
+  include(CMakeFiles/recovery_core_back_up_recovery.dir/cmake_clean_${lang}.cmake OPTIONAL)
+endforeach()

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_back_up_recovery.dir/depend.make

@@ -0,0 +1,2 @@
+# Empty dependencies file for recovery_core_back_up_recovery.
+# This may be replaced when dependencies are built.

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_back_up_recovery.dir/flags.make

@@ -0,0 +1,10 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# compile CXX with /usr/bin/c++
+CXX_FLAGS =   -fPIC   -Wall -Wextra -std=c++17
+
+CXX_DEFINES = -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DDISABLE_LIBUSB_1_0 -DDISABLE_PCAP -DDISABLE_PNG -Drecovery_core_back_up_recovery_EXPORTS -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL2)" -DvtkRenderingCore_AUTOINIT="3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)"
+
+CXX_INCLUDES = -I/usr/include/vtk-7.1 -I/usr/include/freetype2 -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/amr_comunication/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/amr_control/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/nova5_control/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Cores/models/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/diff_wheel_plugin/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/ros_kinematics/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/sick_line_guidance/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/wit_wt901ble_reader/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Cores/loc_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Packages/loc_base/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Packages/robot_localization/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/AGV_auto_docking/laser_line_extraction/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/action_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/angles/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/base_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/deep_mpc_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/depth_image_proc/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/grid_map_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/hybrid_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/image_geometry/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/mission_adapters/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/move_base2/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/mppi_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/nav_ros_bridge/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/nav_test_harness/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/priest_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/recovery_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/sbpl/src/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/sbpl_lattice_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/stanley_local_planner/include -I/usr/include/pcl-1.10 -I/usr/include/eigen3 -I/usr/include/ni -I/usr/include/openni2 -I/opt/ros/noetic/include 
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_back_up_recovery.dir/link.txt

@@ -0,0 +1 @@
+/usr/bin/c++ -fPIC     -shared -Wl,-soname,librecovery_core_back_up_recovery.so -o librecovery_core_back_up_recovery.so CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.o   -L/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib  -L/usr/local/lib  -Wl,-rpath,"/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi:\$ORIGIN:/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib:/usr/local/lib:" librecovery_core.so /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0 /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.6.2 -ldl /usr/local/lib/libtf3.so -lrobot_costmap_2d -lrobot_cpp -lrobot_time -lrobot_xmlrpcpp -lpthread /usr/lib/x86_64-linux-gnu/libboost_atomic.so.1.71.0 

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_back_up_recovery.dir/progress.make

@@ -0,0 +1,3 @@
+CMAKE_PROGRESS_1 = 7
+CMAKE_PROGRESS_2 = 8
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_clear_costmap_recovery.dir/DependInfo.cmake

@@ -0,0 +1,74 @@
+# The set of languages for which implicit dependencies are needed:
+set(CMAKE_DEPENDS_LANGUAGES
+  "CXX"
+  )
+# The set of files for implicit dependencies of each language:
+set(CMAKE_DEPENDS_CHECK_CXX
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/clear_costmap_recovery.cpp" "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.o"
+  )
+set(CMAKE_CXX_COMPILER_ID "GNU")
+
+# Preprocessor definitions for this target.
+set(CMAKE_TARGET_DEFINITIONS_CXX
+  "BOOST_ALL_NO_LIB"
+  "BOOST_ATOMIC_DYN_LINK"
+  "BOOST_FILESYSTEM_DYN_LINK"
+  "BOOST_SYSTEM_DYN_LINK"
+  "BOOST_THREAD_DYN_LINK"
+  "DISABLE_LIBUSB_1_0"
+  "DISABLE_PCAP"
+  "DISABLE_PNG"
+  "recovery_core_clear_costmap_recovery_EXPORTS"
+  "vtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL2)"
+  "vtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)"
+  )
+
+# The include file search paths:
+set(CMAKE_CXX_TARGET_INCLUDE_PATH
+  "/usr/include/vtk-7.1"
+  "/usr/include/freetype2"
+  "../include"
+  "../../../../AMR_T800/Controllers/Packages/amr_comunication/include"
+  "../../../../AMR_T800/Controllers/Packages/amr_control/include"
+  "../../../../AMR_T800/Controllers/Packages/nova5_control/include"
+  "../../../../AMR_T800/Devices/Cores/models/include"
+  "../../../../AMR_T800/Devices/Packages/diff_wheel_plugin/include"
+  "../../../../AMR_T800/Devices/Packages/ros_kinematics/include"
+  "../../../../AMR_T800/Devices/Packages/sick_line_guidance/include"
+  "../../../../AMR_T800/Devices/Packages/wit_wt901ble_reader/include"
+  "../../../../AMR_T800/Localizations/Cores/loc_core/include"
+  "../../../../AMR_T800/Localizations/Packages/loc_base/include"
+  "../../../../AMR_T800/Localizations/Packages/robot_localization/include"
+  "../../../../AMR_T800/Test/AGV_auto_docking/laser_line_extraction/include"
+  "../../../../AMR_T800/Test/action_core/include"
+  "../../../../AMR_T800/Test/angles/include"
+  "../../../../AMR_T800/Test/base_local_planner/include"
+  "../../../../AMR_T800/Test/deep_mpc_local_planner/include"
+  "../../../../AMR_T800/Test/depth_image_proc/include"
+  "../../../../AMR_T800/Test/grid_map_core/include"
+  "../../../../AMR_T800/Test/hybrid_local_planner/include"
+  "../../../../AMR_T800/Test/image_geometry/include"
+  "../../../../AMR_T800/Test/mission_adapters/include"
+  "../../../../AMR_T800/Test/move_base2/include"
+  "../../../../AMR_T800/Test/mppi_local_planner/include"
+  "../../../../AMR_T800/Test/nav_ros_bridge/include"
+  "../../../../AMR_T800/Test/nav_test_harness/include"
+  "../../../../AMR_T800/Test/priest_local_planner/include"
+  "../../../../AMR_T800/Test/recovery_core/include"
+  "../../../../AMR_T800/Test/sbpl/src/include"
+  "../../../../AMR_T800/Test/sbpl_lattice_planner/include"
+  "../../../../AMR_T800/Test/stanley_local_planner/include"
+  "/usr/include/pcl-1.10"
+  "/usr/include/eigen3"
+  "/usr/include/ni"
+  "/usr/include/openni2"
+  "/opt/ros/noetic/include"
+  )
+
+# Targets to which this target links.
+set(CMAKE_TARGET_LINKED_INFO_FILES
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/DependInfo.cmake"
+  )
+
+# Fortran module output directory.
+set(CMAKE_Fortran_TARGET_MODULE_DIR "")

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_clear_costmap_recovery.dir/build.make

@@ -0,0 +1,105 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Delete rule output on recipe failure.
+.DELETE_ON_ERROR:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi
+
+# Include any dependencies generated for this target.
+include CMakeFiles/recovery_core_clear_costmap_recovery.dir/depend.make
+
+# Include the progress variables for this target.
+include CMakeFiles/recovery_core_clear_costmap_recovery.dir/progress.make
+
+# Include the compile flags for this target's objects.
+include CMakeFiles/recovery_core_clear_costmap_recovery.dir/flags.make
+
+CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.o: CMakeFiles/recovery_core_clear_costmap_recovery.dir/flags.make
+CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.o: ../plugins/clear_costmap_recovery.cpp
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_1) "Building CXX object CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.o"
+	/usr/bin/c++  $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/clear_costmap_recovery.cpp
+
+CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.i"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/clear_costmap_recovery.cpp > CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.i
+
+CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.s"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/clear_costmap_recovery.cpp -o CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.s
+
+# Object files for target recovery_core_clear_costmap_recovery
+recovery_core_clear_costmap_recovery_OBJECTS = \
+"CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.o"
+
+# External object files for target recovery_core_clear_costmap_recovery
+recovery_core_clear_costmap_recovery_EXTERNAL_OBJECTS =
+
+librecovery_core_clear_costmap_recovery.so: CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.o
+librecovery_core_clear_costmap_recovery.so: CMakeFiles/recovery_core_clear_costmap_recovery.dir/build.make
+librecovery_core_clear_costmap_recovery.so: librecovery_core.so
+librecovery_core_clear_costmap_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0
+librecovery_core_clear_costmap_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
+librecovery_core_clear_costmap_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0
+librecovery_core_clear_costmap_recovery.so: /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.6.2
+librecovery_core_clear_costmap_recovery.so: /usr/local/lib/libtf3.so
+librecovery_core_clear_costmap_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_atomic.so.1.71.0
+librecovery_core_clear_costmap_recovery.so: CMakeFiles/recovery_core_clear_costmap_recovery.dir/link.txt
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "Linking CXX shared library librecovery_core_clear_costmap_recovery.so"
+	$(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/recovery_core_clear_costmap_recovery.dir/link.txt --verbose=$(VERBOSE)
+
+# Rule to build all files generated by this target.
+CMakeFiles/recovery_core_clear_costmap_recovery.dir/build: librecovery_core_clear_costmap_recovery.so
+
+.PHONY : CMakeFiles/recovery_core_clear_costmap_recovery.dir/build
+
+CMakeFiles/recovery_core_clear_costmap_recovery.dir/clean:
+	$(CMAKE_COMMAND) -P CMakeFiles/recovery_core_clear_costmap_recovery.dir/cmake_clean.cmake
+.PHONY : CMakeFiles/recovery_core_clear_costmap_recovery.dir/clean
+
+CMakeFiles/recovery_core_clear_costmap_recovery.dir/depend:
+	cd /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_clear_costmap_recovery.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : CMakeFiles/recovery_core_clear_costmap_recovery.dir/depend
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_clear_costmap_recovery.dir/cmake_clean.cmake

@@ -0,0 +1,10 @@
+file(REMOVE_RECURSE
+  "CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.o"
+  "librecovery_core_clear_costmap_recovery.pdb"
+  "librecovery_core_clear_costmap_recovery.so"
+)
+
+# Per-language clean rules from dependency scanning.
+foreach(lang CXX)
+  include(CMakeFiles/recovery_core_clear_costmap_recovery.dir/cmake_clean_${lang}.cmake OPTIONAL)
+endforeach()

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_clear_costmap_recovery.dir/depend.make

@@ -0,0 +1,2 @@
+# Empty dependencies file for recovery_core_clear_costmap_recovery.
+# This may be replaced when dependencies are built.

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_clear_costmap_recovery.dir/flags.make

@@ -0,0 +1,10 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# compile CXX with /usr/bin/c++
+CXX_FLAGS =   -fPIC   -Wall -Wextra -std=c++17
+
+CXX_DEFINES = -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DDISABLE_LIBUSB_1_0 -DDISABLE_PCAP -DDISABLE_PNG -Drecovery_core_clear_costmap_recovery_EXPORTS -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL2)" -DvtkRenderingCore_AUTOINIT="3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)"
+
+CXX_INCLUDES = -I/usr/include/vtk-7.1 -I/usr/include/freetype2 -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/amr_comunication/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/amr_control/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/nova5_control/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Cores/models/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/diff_wheel_plugin/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/ros_kinematics/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/sick_line_guidance/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/wit_wt901ble_reader/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Cores/loc_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Packages/loc_base/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Packages/robot_localization/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/AGV_auto_docking/laser_line_extraction/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/action_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/angles/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/base_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/deep_mpc_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/depth_image_proc/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/grid_map_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/hybrid_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/image_geometry/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/mission_adapters/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/move_base2/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/mppi_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/nav_ros_bridge/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/nav_test_harness/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/priest_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/recovery_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/sbpl/src/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/sbpl_lattice_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/stanley_local_planner/include -I/usr/include/pcl-1.10 -I/usr/include/eigen3 -I/usr/include/ni -I/usr/include/openni2 -I/opt/ros/noetic/include 
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_clear_costmap_recovery.dir/link.txt

@@ -0,0 +1 @@
+/usr/bin/c++ -fPIC     -shared -Wl,-soname,librecovery_core_clear_costmap_recovery.so -o librecovery_core_clear_costmap_recovery.so CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.o   -L/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib  -L/usr/local/lib  -Wl,-rpath,"/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi:\$ORIGIN:/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib:/usr/local/lib:" librecovery_core.so /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0 /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.6.2 -ldl /usr/local/lib/libtf3.so -lrobot_costmap_2d -lrobot_cpp -lrobot_time -lrobot_xmlrpcpp -lpthread /usr/lib/x86_64-linux-gnu/libboost_atomic.so.1.71.0 

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_clear_costmap_recovery.dir/progress.make

@@ -0,0 +1,3 @@
+CMAKE_PROGRESS_1 = 9
+CMAKE_PROGRESS_2 = 10
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_rotate_recovery.dir/DependInfo.cmake

@@ -0,0 +1,74 @@
+# The set of languages for which implicit dependencies are needed:
+set(CMAKE_DEPENDS_LANGUAGES
+  "CXX"
+  )
+# The set of files for implicit dependencies of each language:
+set(CMAKE_DEPENDS_CHECK_CXX
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/rotate_recovery.cpp" "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.o"
+  )
+set(CMAKE_CXX_COMPILER_ID "GNU")
+
+# Preprocessor definitions for this target.
+set(CMAKE_TARGET_DEFINITIONS_CXX
+  "BOOST_ALL_NO_LIB"
+  "BOOST_ATOMIC_DYN_LINK"
+  "BOOST_FILESYSTEM_DYN_LINK"
+  "BOOST_SYSTEM_DYN_LINK"
+  "BOOST_THREAD_DYN_LINK"
+  "DISABLE_LIBUSB_1_0"
+  "DISABLE_PCAP"
+  "DISABLE_PNG"
+  "recovery_core_rotate_recovery_EXPORTS"
+  "vtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL2)"
+  "vtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)"
+  )
+
+# The include file search paths:
+set(CMAKE_CXX_TARGET_INCLUDE_PATH
+  "/usr/include/vtk-7.1"
+  "/usr/include/freetype2"
+  "../include"
+  "../../../../AMR_T800/Controllers/Packages/amr_comunication/include"
+  "../../../../AMR_T800/Controllers/Packages/amr_control/include"
+  "../../../../AMR_T800/Controllers/Packages/nova5_control/include"
+  "../../../../AMR_T800/Devices/Cores/models/include"
+  "../../../../AMR_T800/Devices/Packages/diff_wheel_plugin/include"
+  "../../../../AMR_T800/Devices/Packages/ros_kinematics/include"
+  "../../../../AMR_T800/Devices/Packages/sick_line_guidance/include"
+  "../../../../AMR_T800/Devices/Packages/wit_wt901ble_reader/include"
+  "../../../../AMR_T800/Localizations/Cores/loc_core/include"
+  "../../../../AMR_T800/Localizations/Packages/loc_base/include"
+  "../../../../AMR_T800/Localizations/Packages/robot_localization/include"
+  "../../../../AMR_T800/Test/AGV_auto_docking/laser_line_extraction/include"
+  "../../../../AMR_T800/Test/action_core/include"
+  "../../../../AMR_T800/Test/angles/include"
+  "../../../../AMR_T800/Test/base_local_planner/include"
+  "../../../../AMR_T800/Test/deep_mpc_local_planner/include"
+  "../../../../AMR_T800/Test/depth_image_proc/include"
+  "../../../../AMR_T800/Test/grid_map_core/include"
+  "../../../../AMR_T800/Test/hybrid_local_planner/include"
+  "../../../../AMR_T800/Test/image_geometry/include"
+  "../../../../AMR_T800/Test/mission_adapters/include"
+  "../../../../AMR_T800/Test/move_base2/include"
+  "../../../../AMR_T800/Test/mppi_local_planner/include"
+  "../../../../AMR_T800/Test/nav_ros_bridge/include"
+  "../../../../AMR_T800/Test/nav_test_harness/include"
+  "../../../../AMR_T800/Test/priest_local_planner/include"
+  "../../../../AMR_T800/Test/recovery_core/include"
+  "../../../../AMR_T800/Test/sbpl/src/include"
+  "../../../../AMR_T800/Test/sbpl_lattice_planner/include"
+  "../../../../AMR_T800/Test/stanley_local_planner/include"
+  "/usr/include/pcl-1.10"
+  "/usr/include/eigen3"
+  "/usr/include/ni"
+  "/usr/include/openni2"
+  "/opt/ros/noetic/include"
+  )
+
+# Targets to which this target links.
+set(CMAKE_TARGET_LINKED_INFO_FILES
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/DependInfo.cmake"
+  )
+
+# Fortran module output directory.
+set(CMAKE_Fortran_TARGET_MODULE_DIR "")

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_rotate_recovery.dir/build.make

@@ -0,0 +1,105 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Delete rule output on recipe failure.
+.DELETE_ON_ERROR:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi
+
+# Include any dependencies generated for this target.
+include CMakeFiles/recovery_core_rotate_recovery.dir/depend.make
+
+# Include the progress variables for this target.
+include CMakeFiles/recovery_core_rotate_recovery.dir/progress.make
+
+# Include the compile flags for this target's objects.
+include CMakeFiles/recovery_core_rotate_recovery.dir/flags.make
+
+CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.o: CMakeFiles/recovery_core_rotate_recovery.dir/flags.make
+CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.o: ../plugins/rotate_recovery.cpp
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_1) "Building CXX object CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.o"
+	/usr/bin/c++  $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/rotate_recovery.cpp
+
+CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.i"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/rotate_recovery.cpp > CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.i
+
+CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.s"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/rotate_recovery.cpp -o CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.s
+
+# Object files for target recovery_core_rotate_recovery
+recovery_core_rotate_recovery_OBJECTS = \
+"CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.o"
+
+# External object files for target recovery_core_rotate_recovery
+recovery_core_rotate_recovery_EXTERNAL_OBJECTS =
+
+librecovery_core_rotate_recovery.so: CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.o
+librecovery_core_rotate_recovery.so: CMakeFiles/recovery_core_rotate_recovery.dir/build.make
+librecovery_core_rotate_recovery.so: librecovery_core.so
+librecovery_core_rotate_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0
+librecovery_core_rotate_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
+librecovery_core_rotate_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0
+librecovery_core_rotate_recovery.so: /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.6.2
+librecovery_core_rotate_recovery.so: /usr/local/lib/libtf3.so
+librecovery_core_rotate_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_atomic.so.1.71.0
+librecovery_core_rotate_recovery.so: CMakeFiles/recovery_core_rotate_recovery.dir/link.txt
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "Linking CXX shared library librecovery_core_rotate_recovery.so"
+	$(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/recovery_core_rotate_recovery.dir/link.txt --verbose=$(VERBOSE)
+
+# Rule to build all files generated by this target.
+CMakeFiles/recovery_core_rotate_recovery.dir/build: librecovery_core_rotate_recovery.so
+
+.PHONY : CMakeFiles/recovery_core_rotate_recovery.dir/build
+
+CMakeFiles/recovery_core_rotate_recovery.dir/clean:
+	$(CMAKE_COMMAND) -P CMakeFiles/recovery_core_rotate_recovery.dir/cmake_clean.cmake
+.PHONY : CMakeFiles/recovery_core_rotate_recovery.dir/clean
+
+CMakeFiles/recovery_core_rotate_recovery.dir/depend:
+	cd /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_rotate_recovery.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : CMakeFiles/recovery_core_rotate_recovery.dir/depend
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_rotate_recovery.dir/cmake_clean.cmake

@@ -0,0 +1,10 @@
+file(REMOVE_RECURSE
+  "CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.o"
+  "librecovery_core_rotate_recovery.pdb"
+  "librecovery_core_rotate_recovery.so"
+)
+
+# Per-language clean rules from dependency scanning.
+foreach(lang CXX)
+  include(CMakeFiles/recovery_core_rotate_recovery.dir/cmake_clean_${lang}.cmake OPTIONAL)
+endforeach()

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_rotate_recovery.dir/depend.make

@@ -0,0 +1,2 @@
+# Empty dependencies file for recovery_core_rotate_recovery.
+# This may be replaced when dependencies are built.

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_rotate_recovery.dir/flags.make

@@ -0,0 +1,10 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# compile CXX with /usr/bin/c++
+CXX_FLAGS =   -fPIC   -Wall -Wextra -std=c++17
+
+CXX_DEFINES = -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DDISABLE_LIBUSB_1_0 -DDISABLE_PCAP -DDISABLE_PNG -Drecovery_core_rotate_recovery_EXPORTS -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL2)" -DvtkRenderingCore_AUTOINIT="3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)"
+
+CXX_INCLUDES = -I/usr/include/vtk-7.1 -I/usr/include/freetype2 -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/amr_comunication/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/amr_control/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/nova5_control/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Cores/models/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/diff_wheel_plugin/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/ros_kinematics/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/sick_line_guidance/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/wit_wt901ble_reader/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Cores/loc_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Packages/loc_base/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Packages/robot_localization/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/AGV_auto_docking/laser_line_extraction/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/action_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/angles/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/base_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/deep_mpc_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/depth_image_proc/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/grid_map_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/hybrid_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/image_geometry/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/mission_adapters/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/move_base2/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/mppi_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/nav_ros_bridge/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/nav_test_harness/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/priest_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/recovery_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/sbpl/src/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/sbpl_lattice_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/stanley_local_planner/include -I/usr/include/pcl-1.10 -I/usr/include/eigen3 -I/usr/include/ni -I/usr/include/openni2 -I/opt/ros/noetic/include 
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_rotate_recovery.dir/link.txt

@@ -0,0 +1 @@
+/usr/bin/c++ -fPIC     -shared -Wl,-soname,librecovery_core_rotate_recovery.so -o librecovery_core_rotate_recovery.so CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.o   -L/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib  -L/usr/local/lib  -Wl,-rpath,"/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi:\$ORIGIN:/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib:/usr/local/lib:" librecovery_core.so /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0 /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.6.2 -ldl /usr/local/lib/libtf3.so -lrobot_costmap_2d -lrobot_cpp -lrobot_time -lrobot_xmlrpcpp -lpthread /usr/lib/x86_64-linux-gnu/libboost_atomic.so.1.71.0 

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_rotate_recovery.dir/progress.make

@@ -0,0 +1,3 @@
+CMAKE_PROGRESS_1 = 11
+CMAKE_PROGRESS_2 = 12
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_wait_recovery.dir/DependInfo.cmake

@@ -0,0 +1,74 @@
+# The set of languages for which implicit dependencies are needed:
+set(CMAKE_DEPENDS_LANGUAGES
+  "CXX"
+  )
+# The set of files for implicit dependencies of each language:
+set(CMAKE_DEPENDS_CHECK_CXX
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/wait_recovery.cpp" "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.o"
+  )
+set(CMAKE_CXX_COMPILER_ID "GNU")
+
+# Preprocessor definitions for this target.
+set(CMAKE_TARGET_DEFINITIONS_CXX
+  "BOOST_ALL_NO_LIB"
+  "BOOST_ATOMIC_DYN_LINK"
+  "BOOST_FILESYSTEM_DYN_LINK"
+  "BOOST_SYSTEM_DYN_LINK"
+  "BOOST_THREAD_DYN_LINK"
+  "DISABLE_LIBUSB_1_0"
+  "DISABLE_PCAP"
+  "DISABLE_PNG"
+  "recovery_core_wait_recovery_EXPORTS"
+  "vtkRenderingContext2D_AUTOINIT=1(vtkRenderingContextOpenGL2)"
+  "vtkRenderingCore_AUTOINIT=3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)"
+  )
+
+# The include file search paths:
+set(CMAKE_CXX_TARGET_INCLUDE_PATH
+  "/usr/include/vtk-7.1"
+  "/usr/include/freetype2"
+  "../include"
+  "../../../../AMR_T800/Controllers/Packages/amr_comunication/include"
+  "../../../../AMR_T800/Controllers/Packages/amr_control/include"
+  "../../../../AMR_T800/Controllers/Packages/nova5_control/include"
+  "../../../../AMR_T800/Devices/Cores/models/include"
+  "../../../../AMR_T800/Devices/Packages/diff_wheel_plugin/include"
+  "../../../../AMR_T800/Devices/Packages/ros_kinematics/include"
+  "../../../../AMR_T800/Devices/Packages/sick_line_guidance/include"
+  "../../../../AMR_T800/Devices/Packages/wit_wt901ble_reader/include"
+  "../../../../AMR_T800/Localizations/Cores/loc_core/include"
+  "../../../../AMR_T800/Localizations/Packages/loc_base/include"
+  "../../../../AMR_T800/Localizations/Packages/robot_localization/include"
+  "../../../../AMR_T800/Test/AGV_auto_docking/laser_line_extraction/include"
+  "../../../../AMR_T800/Test/action_core/include"
+  "../../../../AMR_T800/Test/angles/include"
+  "../../../../AMR_T800/Test/base_local_planner/include"
+  "../../../../AMR_T800/Test/deep_mpc_local_planner/include"
+  "../../../../AMR_T800/Test/depth_image_proc/include"
+  "../../../../AMR_T800/Test/grid_map_core/include"
+  "../../../../AMR_T800/Test/hybrid_local_planner/include"
+  "../../../../AMR_T800/Test/image_geometry/include"
+  "../../../../AMR_T800/Test/mission_adapters/include"
+  "../../../../AMR_T800/Test/move_base2/include"
+  "../../../../AMR_T800/Test/mppi_local_planner/include"
+  "../../../../AMR_T800/Test/nav_ros_bridge/include"
+  "../../../../AMR_T800/Test/nav_test_harness/include"
+  "../../../../AMR_T800/Test/priest_local_planner/include"
+  "../../../../AMR_T800/Test/recovery_core/include"
+  "../../../../AMR_T800/Test/sbpl/src/include"
+  "../../../../AMR_T800/Test/sbpl_lattice_planner/include"
+  "../../../../AMR_T800/Test/stanley_local_planner/include"
+  "/usr/include/pcl-1.10"
+  "/usr/include/eigen3"
+  "/usr/include/ni"
+  "/usr/include/openni2"
+  "/opt/ros/noetic/include"
+  )
+
+# Targets to which this target links.
+set(CMAKE_TARGET_LINKED_INFO_FILES
+  "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core.dir/DependInfo.cmake"
+  )
+
+# Fortran module output directory.
+set(CMAKE_Fortran_TARGET_MODULE_DIR "")

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_wait_recovery.dir/build.make

@@ -0,0 +1,105 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Delete rule output on recipe failure.
+.DELETE_ON_ERROR:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi
+
+# Include any dependencies generated for this target.
+include CMakeFiles/recovery_core_wait_recovery.dir/depend.make
+
+# Include the progress variables for this target.
+include CMakeFiles/recovery_core_wait_recovery.dir/progress.make
+
+# Include the compile flags for this target's objects.
+include CMakeFiles/recovery_core_wait_recovery.dir/flags.make
+
+CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.o: CMakeFiles/recovery_core_wait_recovery.dir/flags.make
+CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.o: ../plugins/wait_recovery.cpp
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_1) "Building CXX object CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.o"
+	/usr/bin/c++  $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -o CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.o -c /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/wait_recovery.cpp
+
+CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.i: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Preprocessing CXX source to CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.i"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -E /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/wait_recovery.cpp > CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.i
+
+CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.s: cmake_force
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green "Compiling CXX source to assembly CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.s"
+	/usr/bin/c++ $(CXX_DEFINES) $(CXX_INCLUDES) $(CXX_FLAGS) -S /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/plugins/wait_recovery.cpp -o CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.s
+
+# Object files for target recovery_core_wait_recovery
+recovery_core_wait_recovery_OBJECTS = \
+"CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.o"
+
+# External object files for target recovery_core_wait_recovery
+recovery_core_wait_recovery_EXTERNAL_OBJECTS =
+
+librecovery_core_wait_recovery.so: CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.o
+librecovery_core_wait_recovery.so: CMakeFiles/recovery_core_wait_recovery.dir/build.make
+librecovery_core_wait_recovery.so: librecovery_core.so
+librecovery_core_wait_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0
+librecovery_core_wait_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0
+librecovery_core_wait_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0
+librecovery_core_wait_recovery.so: /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.6.2
+librecovery_core_wait_recovery.so: /usr/local/lib/libtf3.so
+librecovery_core_wait_recovery.so: /usr/lib/x86_64-linux-gnu/libboost_atomic.so.1.71.0
+librecovery_core_wait_recovery.so: CMakeFiles/recovery_core_wait_recovery.dir/link.txt
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --green --bold --progress-dir=/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles --progress-num=$(CMAKE_PROGRESS_2) "Linking CXX shared library librecovery_core_wait_recovery.so"
+	$(CMAKE_COMMAND) -E cmake_link_script CMakeFiles/recovery_core_wait_recovery.dir/link.txt --verbose=$(VERBOSE)
+
+# Rule to build all files generated by this target.
+CMakeFiles/recovery_core_wait_recovery.dir/build: librecovery_core_wait_recovery.so
+
+.PHONY : CMakeFiles/recovery_core_wait_recovery.dir/build
+
+CMakeFiles/recovery_core_wait_recovery.dir/clean:
+	$(CMAKE_COMMAND) -P CMakeFiles/recovery_core_wait_recovery.dir/cmake_clean.cmake
+.PHONY : CMakeFiles/recovery_core_wait_recovery.dir/clean
+
+CMakeFiles/recovery_core_wait_recovery.dir/depend:
+	cd /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi && $(CMAKE_COMMAND) -E cmake_depends "Unix Makefiles" /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_wait_recovery.dir/DependInfo.cmake --color=$(COLOR)
+.PHONY : CMakeFiles/recovery_core_wait_recovery.dir/depend
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_wait_recovery.dir/cmake_clean.cmake

@@ -0,0 +1,10 @@
+file(REMOVE_RECURSE
+  "CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.o"
+  "librecovery_core_wait_recovery.pdb"
+  "librecovery_core_wait_recovery.so"
+)
+
+# Per-language clean rules from dependency scanning.
+foreach(lang CXX)
+  include(CMakeFiles/recovery_core_wait_recovery.dir/cmake_clean_${lang}.cmake OPTIONAL)
+endforeach()

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_wait_recovery.dir/depend.make

@@ -0,0 +1,2 @@
+# Empty dependencies file for recovery_core_wait_recovery.
+# This may be replaced when dependencies are built.

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_wait_recovery.dir/flags.make

@@ -0,0 +1,10 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# compile CXX with /usr/bin/c++
+CXX_FLAGS =   -fPIC   -Wall -Wextra -std=c++17
+
+CXX_DEFINES = -DBOOST_ALL_NO_LIB -DBOOST_ATOMIC_DYN_LINK -DBOOST_FILESYSTEM_DYN_LINK -DBOOST_SYSTEM_DYN_LINK -DBOOST_THREAD_DYN_LINK -DDISABLE_LIBUSB_1_0 -DDISABLE_PCAP -DDISABLE_PNG -Drecovery_core_wait_recovery_EXPORTS -DvtkRenderingContext2D_AUTOINIT="1(vtkRenderingContextOpenGL2)" -DvtkRenderingCore_AUTOINIT="3(vtkInteractionStyle,vtkRenderingFreeType,vtkRenderingOpenGL2)"
+
+CXX_INCLUDES = -I/usr/include/vtk-7.1 -I/usr/include/freetype2 -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/amr_comunication/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/amr_control/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Controllers/Packages/nova5_control/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Cores/models/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/diff_wheel_plugin/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/ros_kinematics/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/sick_line_guidance/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Devices/Packages/wit_wt901ble_reader/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Cores/loc_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Packages/loc_base/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Localizations/Packages/robot_localization/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/AGV_auto_docking/laser_line_extraction/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/action_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/angles/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/base_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/deep_mpc_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/depth_image_proc/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/grid_map_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/hybrid_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/image_geometry/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/mission_adapters/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/move_base2/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/mppi_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/nav_ros_bridge/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/nav_test_harness/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/priest_local_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/recovery_core/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/sbpl/src/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/sbpl_lattice_planner/include -I/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../AMR_T800/Test/stanley_local_planner/include -I/usr/include/pcl-1.10 -I/usr/include/eigen3 -I/usr/include/ni -I/usr/include/openni2 -I/opt/ros/noetic/include 
+

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_wait_recovery.dir/link.txt

@@ -0,0 +1 @@
+/usr/bin/c++ -fPIC     -shared -Wl,-soname,librecovery_core_wait_recovery.so -o librecovery_core_wait_recovery.so CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.o   -L/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib  -L/usr/local/lib  -Wl,-rpath,"/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi:\$ORIGIN:/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib:/usr/local/lib:" librecovery_core.so /usr/lib/x86_64-linux-gnu/libboost_system.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_thread.so.1.71.0 /usr/lib/x86_64-linux-gnu/libboost_filesystem.so.1.71.0 /usr/lib/x86_64-linux-gnu/libyaml-cpp.so.0.6.2 -ldl /usr/local/lib/libtf3.so -lrobot_costmap_2d -lrobot_cpp -lrobot_time -lrobot_xmlrpcpp -lpthread /usr/lib/x86_64-linux-gnu/libboost_atomic.so.1.71.0 

build-standalone-codex-6GdOsi/CMakeFiles/recovery_core_wait_recovery.dir/progress.make

@@ -0,0 +1,3 @@
+CMAKE_PROGRESS_1 = 13
+CMAKE_PROGRESS_2 = 14
+

build-standalone-codex-6GdOsi/Makefile

@@ -0,0 +1,524 @@
+# CMAKE generated file: DO NOT EDIT!
+# Generated by "Unix Makefiles" Generator, CMake Version 3.16
+
+# Default target executed when no arguments are given to make.
+default_target: all
+
+.PHONY : default_target
+
+# Allow only one "make -f Makefile2" at a time, but pass parallelism.
+.NOTPARALLEL:
+
+
+#=============================================================================
+# Special targets provided by cmake.
+
+# Disable implicit rules so canonical targets will work.
+.SUFFIXES:
+
+
+# Remove some rules from gmake that .SUFFIXES does not remove.
+SUFFIXES =
+
+.SUFFIXES: .hpux_make_needs_suffix_list
+
+
+# Suppress display of executed commands.
+$(VERBOSE).SILENT:
+
+
+# A target that is always out of date.
+cmake_force:
+
+.PHONY : cmake_force
+
+#=============================================================================
+# Set environment variables for the build.
+
+# The shell in which to execute make rules.
+SHELL = /bin/sh
+
+# The CMake executable.
+CMAKE_COMMAND = /usr/bin/cmake
+
+# The command to remove a file.
+RM = /usr/bin/cmake -E remove -f
+
+# Escaping for special characters.
+EQUALS = =
+
+# The top-level source directory on which CMake was run.
+CMAKE_SOURCE_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core
+
+# The top-level build directory on which CMake was run.
+CMAKE_BINARY_DIR = /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi
+
+#=============================================================================
+# Targets provided globally by CMake.
+
+# Special rule for the target install
+install: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install
+
+# Special rule for the target install
+install/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Install the project..."
+	/usr/bin/cmake -P cmake_install.cmake
+.PHONY : install/fast
+
+# Special rule for the target list_install_components
+list_install_components:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Available install components are: \"Unspecified\""
+.PHONY : list_install_components
+
+# Special rule for the target list_install_components
+list_install_components/fast: list_install_components
+
+.PHONY : list_install_components/fast
+
+# Special rule for the target rebuild_cache
+rebuild_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
+	/usr/bin/cmake -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
+.PHONY : rebuild_cache
+
+# Special rule for the target rebuild_cache
+rebuild_cache/fast: rebuild_cache
+
+.PHONY : rebuild_cache/fast
+
+# Special rule for the target edit_cache
+edit_cache:
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
+	/usr/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
+.PHONY : edit_cache
+
+# Special rule for the target edit_cache
+edit_cache/fast: edit_cache
+
+.PHONY : edit_cache/fast
+
+# Special rule for the target install/local
+install/local: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local
+
+# Special rule for the target install/local
+install/local/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing only the local directory..."
+	/usr/bin/cmake -DCMAKE_INSTALL_LOCAL_ONLY=1 -P cmake_install.cmake
+.PHONY : install/local/fast
+
+# Special rule for the target install/strip
+install/strip: preinstall
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip
+
+# Special rule for the target install/strip
+install/strip/fast: preinstall/fast
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Installing the project stripped..."
+	/usr/bin/cmake -DCMAKE_INSTALL_DO_STRIP=1 -P cmake_install.cmake
+.PHONY : install/strip/fast
+
+# The main all target
+all: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/progress.marks
+	$(MAKE) -f CMakeFiles/Makefile2 all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles 0
+.PHONY : all
+
+# The main clean target
+clean:
+	$(MAKE) -f CMakeFiles/Makefile2 clean
+.PHONY : clean
+
+# The main clean target
+clean/fast: clean
+
+.PHONY : clean/fast
+
+# Prepare targets for installation.
+preinstall: all
+	$(MAKE) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall
+
+# Prepare targets for installation.
+preinstall/fast:
+	$(MAKE) -f CMakeFiles/Makefile2 preinstall
+.PHONY : preinstall/fast
+
+# clear depends
+depend:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
+.PHONY : depend
+
+#=============================================================================
+# Target rules for targets named recovery_core_back_up_recovery
+
+# Build rule for target.
+recovery_core_back_up_recovery: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 recovery_core_back_up_recovery
+.PHONY : recovery_core_back_up_recovery
+
+# fast build rule for target.
+recovery_core_back_up_recovery/fast:
+	$(MAKE) -f CMakeFiles/recovery_core_back_up_recovery.dir/build.make CMakeFiles/recovery_core_back_up_recovery.dir/build
+.PHONY : recovery_core_back_up_recovery/fast
+
+#=============================================================================
+# Target rules for targets named recovery_core_clear_costmap_recovery
+
+# Build rule for target.
+recovery_core_clear_costmap_recovery: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 recovery_core_clear_costmap_recovery
+.PHONY : recovery_core_clear_costmap_recovery
+
+# fast build rule for target.
+recovery_core_clear_costmap_recovery/fast:
+	$(MAKE) -f CMakeFiles/recovery_core_clear_costmap_recovery.dir/build.make CMakeFiles/recovery_core_clear_costmap_recovery.dir/build
+.PHONY : recovery_core_clear_costmap_recovery/fast
+
+#=============================================================================
+# Target rules for targets named recovery_core_wait_recovery
+
+# Build rule for target.
+recovery_core_wait_recovery: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 recovery_core_wait_recovery
+.PHONY : recovery_core_wait_recovery
+
+# fast build rule for target.
+recovery_core_wait_recovery/fast:
+	$(MAKE) -f CMakeFiles/recovery_core_wait_recovery.dir/build.make CMakeFiles/recovery_core_wait_recovery.dir/build
+.PHONY : recovery_core_wait_recovery/fast
+
+#=============================================================================
+# Target rules for targets named recovery_core_rotate_recovery
+
+# Build rule for target.
+recovery_core_rotate_recovery: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 recovery_core_rotate_recovery
+.PHONY : recovery_core_rotate_recovery
+
+# fast build rule for target.
+recovery_core_rotate_recovery/fast:
+	$(MAKE) -f CMakeFiles/recovery_core_rotate_recovery.dir/build.make CMakeFiles/recovery_core_rotate_recovery.dir/build
+.PHONY : recovery_core_rotate_recovery/fast
+
+#=============================================================================
+# Target rules for targets named recovery_core
+
+# Build rule for target.
+recovery_core: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 recovery_core
+.PHONY : recovery_core
+
+# fast build rule for target.
+recovery_core/fast:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/build
+.PHONY : recovery_core/fast
+
+adapters/costmap_collision_checker.o: adapters/costmap_collision_checker.cpp.o
+
+.PHONY : adapters/costmap_collision_checker.o
+
+# target to build an object file
+adapters/costmap_collision_checker.cpp.o:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.o
+.PHONY : adapters/costmap_collision_checker.cpp.o
+
+adapters/costmap_collision_checker.i: adapters/costmap_collision_checker.cpp.i
+
+.PHONY : adapters/costmap_collision_checker.i
+
+# target to preprocess a source file
+adapters/costmap_collision_checker.cpp.i:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.i
+.PHONY : adapters/costmap_collision_checker.cpp.i
+
+adapters/costmap_collision_checker.s: adapters/costmap_collision_checker.cpp.s
+
+.PHONY : adapters/costmap_collision_checker.s
+
+# target to generate assembly for a file
+adapters/costmap_collision_checker.cpp.s:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/adapters/costmap_collision_checker.cpp.s
+.PHONY : adapters/costmap_collision_checker.cpp.s
+
+adapters/costmap_pose_provider.o: adapters/costmap_pose_provider.cpp.o
+
+.PHONY : adapters/costmap_pose_provider.o
+
+# target to build an object file
+adapters/costmap_pose_provider.cpp.o:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.o
+.PHONY : adapters/costmap_pose_provider.cpp.o
+
+adapters/costmap_pose_provider.i: adapters/costmap_pose_provider.cpp.i
+
+.PHONY : adapters/costmap_pose_provider.i
+
+# target to preprocess a source file
+adapters/costmap_pose_provider.cpp.i:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.i
+.PHONY : adapters/costmap_pose_provider.cpp.i
+
+adapters/costmap_pose_provider.s: adapters/costmap_pose_provider.cpp.s
+
+.PHONY : adapters/costmap_pose_provider.s
+
+# target to generate assembly for a file
+adapters/costmap_pose_provider.cpp.s:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/adapters/costmap_pose_provider.cpp.s
+.PHONY : adapters/costmap_pose_provider.cpp.s
+
+plugins/back_up_recovery.o: plugins/back_up_recovery.cpp.o
+
+.PHONY : plugins/back_up_recovery.o
+
+# target to build an object file
+plugins/back_up_recovery.cpp.o:
+	$(MAKE) -f CMakeFiles/recovery_core_back_up_recovery.dir/build.make CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.o
+.PHONY : plugins/back_up_recovery.cpp.o
+
+plugins/back_up_recovery.i: plugins/back_up_recovery.cpp.i
+
+.PHONY : plugins/back_up_recovery.i
+
+# target to preprocess a source file
+plugins/back_up_recovery.cpp.i:
+	$(MAKE) -f CMakeFiles/recovery_core_back_up_recovery.dir/build.make CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.i
+.PHONY : plugins/back_up_recovery.cpp.i
+
+plugins/back_up_recovery.s: plugins/back_up_recovery.cpp.s
+
+.PHONY : plugins/back_up_recovery.s
+
+# target to generate assembly for a file
+plugins/back_up_recovery.cpp.s:
+	$(MAKE) -f CMakeFiles/recovery_core_back_up_recovery.dir/build.make CMakeFiles/recovery_core_back_up_recovery.dir/plugins/back_up_recovery.cpp.s
+.PHONY : plugins/back_up_recovery.cpp.s
+
+plugins/clear_costmap_recovery.o: plugins/clear_costmap_recovery.cpp.o
+
+.PHONY : plugins/clear_costmap_recovery.o
+
+# target to build an object file
+plugins/clear_costmap_recovery.cpp.o:
+	$(MAKE) -f CMakeFiles/recovery_core_clear_costmap_recovery.dir/build.make CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.o
+.PHONY : plugins/clear_costmap_recovery.cpp.o
+
+plugins/clear_costmap_recovery.i: plugins/clear_costmap_recovery.cpp.i
+
+.PHONY : plugins/clear_costmap_recovery.i
+
+# target to preprocess a source file
+plugins/clear_costmap_recovery.cpp.i:
+	$(MAKE) -f CMakeFiles/recovery_core_clear_costmap_recovery.dir/build.make CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.i
+.PHONY : plugins/clear_costmap_recovery.cpp.i
+
+plugins/clear_costmap_recovery.s: plugins/clear_costmap_recovery.cpp.s
+
+.PHONY : plugins/clear_costmap_recovery.s
+
+# target to generate assembly for a file
+plugins/clear_costmap_recovery.cpp.s:
+	$(MAKE) -f CMakeFiles/recovery_core_clear_costmap_recovery.dir/build.make CMakeFiles/recovery_core_clear_costmap_recovery.dir/plugins/clear_costmap_recovery.cpp.s
+.PHONY : plugins/clear_costmap_recovery.cpp.s
+
+plugins/rotate_recovery.o: plugins/rotate_recovery.cpp.o
+
+.PHONY : plugins/rotate_recovery.o
+
+# target to build an object file
+plugins/rotate_recovery.cpp.o:
+	$(MAKE) -f CMakeFiles/recovery_core_rotate_recovery.dir/build.make CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.o
+.PHONY : plugins/rotate_recovery.cpp.o
+
+plugins/rotate_recovery.i: plugins/rotate_recovery.cpp.i
+
+.PHONY : plugins/rotate_recovery.i
+
+# target to preprocess a source file
+plugins/rotate_recovery.cpp.i:
+	$(MAKE) -f CMakeFiles/recovery_core_rotate_recovery.dir/build.make CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.i
+.PHONY : plugins/rotate_recovery.cpp.i
+
+plugins/rotate_recovery.s: plugins/rotate_recovery.cpp.s
+
+.PHONY : plugins/rotate_recovery.s
+
+# target to generate assembly for a file
+plugins/rotate_recovery.cpp.s:
+	$(MAKE) -f CMakeFiles/recovery_core_rotate_recovery.dir/build.make CMakeFiles/recovery_core_rotate_recovery.dir/plugins/rotate_recovery.cpp.s
+.PHONY : plugins/rotate_recovery.cpp.s
+
+plugins/wait_recovery.o: plugins/wait_recovery.cpp.o
+
+.PHONY : plugins/wait_recovery.o
+
+# target to build an object file
+plugins/wait_recovery.cpp.o:
+	$(MAKE) -f CMakeFiles/recovery_core_wait_recovery.dir/build.make CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.o
+.PHONY : plugins/wait_recovery.cpp.o
+
+plugins/wait_recovery.i: plugins/wait_recovery.cpp.i
+
+.PHONY : plugins/wait_recovery.i
+
+# target to preprocess a source file
+plugins/wait_recovery.cpp.i:
+	$(MAKE) -f CMakeFiles/recovery_core_wait_recovery.dir/build.make CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.i
+.PHONY : plugins/wait_recovery.cpp.i
+
+plugins/wait_recovery.s: plugins/wait_recovery.cpp.s
+
+.PHONY : plugins/wait_recovery.s
+
+# target to generate assembly for a file
+plugins/wait_recovery.cpp.s:
+	$(MAKE) -f CMakeFiles/recovery_core_wait_recovery.dir/build.make CMakeFiles/recovery_core_wait_recovery.dir/plugins/wait_recovery.cpp.s
+.PHONY : plugins/wait_recovery.cpp.s
+
+src/recovery_behavior.o: src/recovery_behavior.cpp.o
+
+.PHONY : src/recovery_behavior.o
+
+# target to build an object file
+src/recovery_behavior.cpp.o:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.o
+.PHONY : src/recovery_behavior.cpp.o
+
+src/recovery_behavior.i: src/recovery_behavior.cpp.i
+
+.PHONY : src/recovery_behavior.i
+
+# target to preprocess a source file
+src/recovery_behavior.cpp.i:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.i
+.PHONY : src/recovery_behavior.cpp.i
+
+src/recovery_behavior.s: src/recovery_behavior.cpp.s
+
+.PHONY : src/recovery_behavior.s
+
+# target to generate assembly for a file
+src/recovery_behavior.cpp.s:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/src/recovery_behavior.cpp.s
+.PHONY : src/recovery_behavior.cpp.s
+
+src/recovery_registry.o: src/recovery_registry.cpp.o
+
+.PHONY : src/recovery_registry.o
+
+# target to build an object file
+src/recovery_registry.cpp.o:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.o
+.PHONY : src/recovery_registry.cpp.o
+
+src/recovery_registry.i: src/recovery_registry.cpp.i
+
+.PHONY : src/recovery_registry.i
+
+# target to preprocess a source file
+src/recovery_registry.cpp.i:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.i
+.PHONY : src/recovery_registry.cpp.i
+
+src/recovery_registry.s: src/recovery_registry.cpp.s
+
+.PHONY : src/recovery_registry.s
+
+# target to generate assembly for a file
+src/recovery_registry.cpp.s:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/src/recovery_registry.cpp.s
+.PHONY : src/recovery_registry.cpp.s
+
+src/recovery_types.o: src/recovery_types.cpp.o
+
+.PHONY : src/recovery_types.o
+
+# target to build an object file
+src/recovery_types.cpp.o:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/src/recovery_types.cpp.o
+.PHONY : src/recovery_types.cpp.o
+
+src/recovery_types.i: src/recovery_types.cpp.i
+
+.PHONY : src/recovery_types.i
+
+# target to preprocess a source file
+src/recovery_types.cpp.i:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/src/recovery_types.cpp.i
+.PHONY : src/recovery_types.cpp.i
+
+src/recovery_types.s: src/recovery_types.cpp.s
+
+.PHONY : src/recovery_types.s
+
+# target to generate assembly for a file
+src/recovery_types.cpp.s:
+	$(MAKE) -f CMakeFiles/recovery_core.dir/build.make CMakeFiles/recovery_core.dir/src/recovery_types.cpp.s
+.PHONY : src/recovery_types.cpp.s
+
+# Help Target
+help:
+	@echo "The following are some of the valid targets for this Makefile:"
+	@echo "... all (the default if no target is provided)"
+	@echo "... clean"
+	@echo "... depend"
+	@echo "... install"
+	@echo "... list_install_components"
+	@echo "... rebuild_cache"
+	@echo "... edit_cache"
+	@echo "... install/local"
+	@echo "... recovery_core_back_up_recovery"
+	@echo "... recovery_core_clear_costmap_recovery"
+	@echo "... recovery_core_wait_recovery"
+	@echo "... install/strip"
+	@echo "... recovery_core_rotate_recovery"
+	@echo "... recovery_core"
+	@echo "... adapters/costmap_collision_checker.o"
+	@echo "... adapters/costmap_collision_checker.i"
+	@echo "... adapters/costmap_collision_checker.s"
+	@echo "... adapters/costmap_pose_provider.o"
+	@echo "... adapters/costmap_pose_provider.i"
+	@echo "... adapters/costmap_pose_provider.s"
+	@echo "... plugins/back_up_recovery.o"
+	@echo "... plugins/back_up_recovery.i"
+	@echo "... plugins/back_up_recovery.s"
+	@echo "... plugins/clear_costmap_recovery.o"
+	@echo "... plugins/clear_costmap_recovery.i"
+	@echo "... plugins/clear_costmap_recovery.s"
+	@echo "... plugins/rotate_recovery.o"
+	@echo "... plugins/rotate_recovery.i"
+	@echo "... plugins/rotate_recovery.s"
+	@echo "... plugins/wait_recovery.o"
+	@echo "... plugins/wait_recovery.i"
+	@echo "... plugins/wait_recovery.s"
+	@echo "... src/recovery_behavior.o"
+	@echo "... src/recovery_behavior.i"
+	@echo "... src/recovery_behavior.s"
+	@echo "... src/recovery_registry.o"
+	@echo "... src/recovery_registry.i"
+	@echo "... src/recovery_registry.s"
+	@echo "... src/recovery_types.o"
+	@echo "... src/recovery_types.i"
+	@echo "... src/recovery_types.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
+cmake_check_build_system:
+	$(CMAKE_COMMAND) -S$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
+

build-standalone-codex-6GdOsi/cmake_install.cmake

@@ -0,0 +1,187 @@
+# Install script for directory: /home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core
+
+# Set the install prefix
+if(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  set(CMAKE_INSTALL_PREFIX "/usr/local")
+endif()
+string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  if(BUILD_TYPE)
+    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  else()
+    set(CMAKE_INSTALL_CONFIG_NAME "")
+  endif()
+  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+endif()
+
+# Set the component getting installed.
+if(NOT CMAKE_INSTALL_COMPONENT)
+  if(COMPONENT)
+    message(STATUS "Install component: \"${COMPONENT}\"")
+    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  else()
+    set(CMAKE_INSTALL_COMPONENT)
+  endif()
+endif()
+
+# Install shared libraries without execute permission?
+if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  set(CMAKE_INSTALL_SO_NO_EXE "1")
+endif()
+
+# Is this installation the result of a crosscompile?
+if(NOT DEFINED CMAKE_CROSSCOMPILING)
+  set(CMAKE_CROSSCOMPILING "FALSE")
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core.so"
+         RPATH "/usr/local/lib")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/librecovery_core.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core.so"
+         OLD_RPATH "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi:/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib:/usr/local/lib:"
+         NEW_RPATH "/usr/local/lib")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_wait_recovery.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_wait_recovery.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_wait_recovery.so"
+         RPATH "/usr/local/lib")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/librecovery_core_wait_recovery.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_wait_recovery.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_wait_recovery.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_wait_recovery.so"
+         OLD_RPATH "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi:\$ORIGIN:/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib:/usr/local/lib:"
+         NEW_RPATH "/usr/local/lib")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_wait_recovery.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_clear_costmap_recovery.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_clear_costmap_recovery.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_clear_costmap_recovery.so"
+         RPATH "/usr/local/lib")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/librecovery_core_clear_costmap_recovery.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_clear_costmap_recovery.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_clear_costmap_recovery.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_clear_costmap_recovery.so"
+         OLD_RPATH "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi:\$ORIGIN:/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib:/usr/local/lib:"
+         NEW_RPATH "/usr/local/lib")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_clear_costmap_recovery.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_rotate_recovery.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_rotate_recovery.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_rotate_recovery.so"
+         RPATH "/usr/local/lib")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/librecovery_core_rotate_recovery.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_rotate_recovery.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_rotate_recovery.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_rotate_recovery.so"
+         OLD_RPATH "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi:\$ORIGIN:/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib:/usr/local/lib:"
+         NEW_RPATH "/usr/local/lib")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_rotate_recovery.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_back_up_recovery.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_back_up_recovery.so")
+    file(RPATH_CHECK
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_back_up_recovery.so"
+         RPATH "/usr/local/lib")
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/librecovery_core_back_up_recovery.so")
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_back_up_recovery.so" AND
+     NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_back_up_recovery.so")
+    file(RPATH_CHANGE
+         FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_back_up_recovery.so"
+         OLD_RPATH "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi:\$ORIGIN:/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/../../../../devel/lib:/usr/local/lib:"
+         NEW_RPATH "/usr/local/lib")
+    if(CMAKE_INSTALL_DO_STRIP)
+      execute_process(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/librecovery_core_back_up_recovery.so")
+    endif()
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  if(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/recovery_core/recovery_core-targets.cmake")
+    file(DIFFERENT EXPORT_FILE_CHANGED FILES
+         "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/recovery_core/recovery_core-targets.cmake"
+         "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/Export/lib/cmake/recovery_core/recovery_core-targets.cmake")
+    if(EXPORT_FILE_CHANGED)
+      file(GLOB OLD_CONFIG_FILES "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/recovery_core/recovery_core-targets-*.cmake")
+      if(OLD_CONFIG_FILES)
+        message(STATUS "Old export file \"$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/cmake/recovery_core/recovery_core-targets.cmake\" will be replaced.  Removing files [${OLD_CONFIG_FILES}].")
+        file(REMOVE ${OLD_CONFIG_FILES})
+      endif()
+    endif()
+  endif()
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/cmake/recovery_core" TYPE FILE FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/Export/lib/cmake/recovery_core/recovery_core-targets.cmake")
+  if("${CMAKE_INSTALL_CONFIG_NAME}" MATCHES "^()$")
+    file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/cmake/recovery_core" TYPE FILE FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/CMakeFiles/Export/lib/cmake/recovery_core/recovery_core-targets-noconfig.cmake")
+  endif()
+endif()
+
+if("x${CMAKE_INSTALL_COMPONENT}x" STREQUAL "xUnspecifiedx" OR NOT CMAKE_INSTALL_COMPONENT)
+  file(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/include" TYPE DIRECTORY FILES "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/include/recovery_core/" FILES_MATCHING REGEX "/[^/]*\\.h$" REGEX "/[^/]*\\.hpp$" REGEX "/\\.svn$" EXCLUDE)
+endif()
+
+if(CMAKE_INSTALL_COMPONENT)
+  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+else()
+  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+endif()
+
+string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
+       "${CMAKE_INSTALL_MANIFEST_FILES}")
+file(WRITE "/home/duongtd/T800_ws/src/AMR_T800/Test/recovery_core/build-standalone-codex-6GdOsi/${CMAKE_INSTALL_MANIFEST}"
+     "${CMAKE_INSTALL_MANIFEST_CONTENT}")

docs/ARCHITECTURE.md

@@ -1,46 +1,106 @@
-# Kiến Trúc recovery_core
+# Kiến trúc recovery_core
 
-## Vị trí trong stack
+## Vị trí
 
-`recovery_core` nằm ở tầng `Navigations/Libraries`, cạnh `robot_clear_costmap_recovery`. Nó
+Gói nằm ở `Test/recovery_core`. Nó định nghĩa interface recovery **duy nhất** của workspace
-giữ vai trò interface tương tự `robot_nav_core::RecoveryBehavior` cho các recovery cần **trả
+(`CLAUDE.md`); bản legacy `robot_nav_core::RecoveryBehavior` đã dừng phát triển và không được port
-về output** (path/vận tốc), đồng thời vẫn dùng global path/costmap/tf như bản gốc.
+sang.
 
-## Các thành phần
+Consumer đầu tiên là `RecoveryRunner` của `move_base2` — nó include thẳng
+`recovery_core/recovery_behavior.h`, nên contract được compiler kiểm đầy đủ ở một nơi.
 
-- `RecoveryBehavior` (interface, template-method): API non-virtual `configure`/`start`/`update`/
+## Vì sao tick-based
-  `cancel`; plugin chỉ triển khai hook `onConfigure`/`onStart(goal)`/`onUpdate()`.
+
-- `RecoveryContext`: gói con trỏ ngữ cảnh (tf/costmap/global_path) truyền một lần qua `configure`.
+Recovery thế hệ trước chạy blocking bên trong một lời gọi và không trả gì. Hệ quả: không cancel
-- `RecoveryGoal`: mục tiêu RUNTIME mỗi lượt (angle/distance/target_pose/params).
+được giữa chừng, không báo tiến độ, và **không phát được vận tốc** — nên mọi behavior cần robot cử
-- `RecoveryResult` / `RecoveryStatus` / `RecoveryOutputType`: hợp đồng output hợp nhất 3 họ +
+động phải tự quay vòng lặp bên trong, tranh quyền phát `cmd_vel` với controller.
-  rich feedback (`progress`/`remaining`/`elapsed`/`message`), thêm trạng thái `kCancelled`.
+
-- Plugin mẫu:
+Bản này trả kết quả từng cycle. Ràng buộc kéo theo: recovery phải được tick từ **đúng thread đang
-  - `ClearCostmapRecovery`: clear layer costmap theo tên, one-shot no-output.
+sở hữu cmd_vel**, không được có thread riêng.
-  - `RotateRecovery`: quay tới `goal.angle` (rad); sinh `Twist.angular.z` mỗi cycle.
+
-  - `BackUpRecovery`: lùi tới `goal.distance` (m); sinh `Twist.linear.x < 0` mỗi cycle.
+## Thành phần
-  - `RegenPathRecovery`: trả lại `robot_nav_msgs::Path` từ `global_path` hiện tại.
+
+| Thành phần | Vai trò |
+|---|---|
+| `RecoveryBehavior` | Base template-method. Giữ toàn bộ bất biến; plugin chỉ triển khai hook |
+| `RecoveryContext` | Các **cổng** môi trường: `PoseProvider`, `CollisionChecker`, `PlanProvider`, con trỏ costmap |
+| `RecoveryGoal` | Mục tiêu runtime mỗi lượt: `trigger`, `angle`, `distance`, `target_pose`, `params` |
+| `RecoveryResult` | Kết quả một tick: status, output theo họ, progress/remaining/elapsed/message |
+| `RecoveryRegistry` | Danh sách behavior **có thứ tự**, nạp từ YAML qua Boost.DLL |
+| `adapters/` | `CostmapPoseProvider`, `CostmapCollisionChecker` — nối cổng vào costmap thật |
+| `plugins/` | Bộ mặc định: wait, clear costmap, rotate, back up |
+
+## Ai giữ bất biến gì
+
+Đây là điểm khác quan trọng nhất so với bản trước, nơi state là `protected` và plugin ghi thẳng
+được vào `status_`.
+
+**Base giữ:**
+
+- guard vòng đời: `start` sau `configure`, `update` sau `start`, `configure` chỉ một lần;
+- cổng bắt buộc theo `outputKind()` — họ velocity không có `PoseProvider`/`CollisionChecker` thì
+  `configure()` trả `false` ngay, chứ không để plugin phát hiện lúc đang lái;
+- validate goal (NaN/Inf, `distance > 0`) trước khi plugin nhìn thấy;
+- đo `dt` và `elapsed` bằng đồng hồ **thật**, ép `timeout`;
+- cưỡng chế `output_type ∈ {outputKind(), kNone}`;
+- chặn NaN/Inf trong lệnh vận tốc;
+- sinh **stop output đúng họ** ở mọi nhánh guard/cancel/timeout.
+
+**Plugin giữ:** đọc param riêng, chốt mục tiêu lượt này, và sinh một tick an toàn. Toàn bộ state của
+base là `private`; plugin truy cập qua accessor `const`.
 
 ## Luồng runtime
 
 ```
-configure(name, ctx)          // 1 lần: cache ctx, đọc config chung, onConfigure()
+configure(name, ctx, nh)     # 1 lần. Kiểm cổng bắt buộc, đọc timeout, gọi onConfigure(nh).
         │
-start(goal)                   // mỗi lượt: chốt mục tiêu runtime, onStart()
+start(goal, now)             # mỗi lượt. Validate goal, mốc thời gian, gọi onStart(goal) -> bool.
         │
-        ├── one-shot (họ A/B):  update() 1 lần ───────────► RecoveryResult{status, path|none, msg}
+        ├── kNone     : update() -> làm việc / đếm giờ ─────► {status, elapsed, message}
+        ├── kVelocity : loop { update(now) } ───────────────► {status, Twist, progress, remaining}
+        └── kPath     : update() -> sinh path ──────────────► {status, Path}
         │
-        └── per-cycle (họ C):   loop { update() } ────────► RecoveryResult{status, velocity,
+cancel()                     # tick kế tiếp gọi onCancel() -> stop output + kCancelled.
-                                (tới khi status != kRunning)             progress, remaining}
 ```
 
-## Ghi chú thiết kế
+## Quyết định thiết kế
 
-- Template-method: base xử lý guard vòng đời (configure→start→update) và `cancel` một chỗ;
+**Cổng, không phải dữ liệu, nằm trong context.** `PlanProvider` là accessor chứ không phải con trỏ
-  plugin không lặp lại các guard này.
+tới `std::vector` vì runtime dùng triple-buffer plan và **xoay con trỏ** giữa ba bộ đệm — một con
-- Mục tiêu là RUNTIME qua `RecoveryGoal` (không cố định trong config): cùng plugin phục vụ nhiều
+trỏ cache lúc `configure()` sẽ trỏ vào bộ đệm scratch sau vài chu kỳ planner. Cùng lý do đó, con trỏ
-  yêu cầu góc/khoảng khác nhau. Field = 0 → dùng default plugin đọc ở `onConfigure()`.
+costmap phải được caller làm mới trước mỗi lượt và plugin không được cache `Costmap2D*` bên trong.
-- `onUpdate()` lấy pose robot từ costmap/tf bên trong; không truyền pose qua tham số.
+
-- Sau `cancel()`, base tự trả stop output (Twist 0) + `kCancelled`.
+**`std::optional` thay cho sentinel 0.** `goal.angle = 0` là yêu cầu hợp lệ ("đừng quay") và phải
-- Param RIÊNG của plugin đọc trong `onConfigure()`.
+phân biệt được với "caller không đặt". Quy ước cũ "0 nghĩa là dùng default" khiến một góc tính từ
-- Interface KHÔNG include Boost.DLL; export/import là việc của plugin/loader.
+hình học ra ~0 bị âm thầm thay bằng π/2.
-- Plugin mẫu có dùng Boost.DLL alias, nhưng core contract vẫn không biết loader/adaptor.
+
+**Họ output nằm trong kiểu.** `outputKind()` khai một lần và base cưỡng chế. Trước kia mỗi kết quả
+tự mang `output_type` nên nó không dùng để route được: một behavior họ path báo `kVelocity` ở tick
+đầu, còn base thì sinh `Velocity(zero)` cho mọi họ ở nhánh terminal.
+
+**Param do caller cấp namespace.** `configure()` nhận `robot::NodeHandle&` đã scope sẵn; plugin
+không tự dựng `NodeHandle("~/" + name)` và tự nạp YAML từ disk. Nhờ vậy test chỉ cần trỏ vào cây
+config của mình, không phải dựng cây config production.
+
+**Không có `RecoveryDirective`.** Từng cân nhắc thêm kênh "xin lập plan lại", nhưng state machine
+của `move_base2` đã chuyển `RECOVERING → PLANNING` với `start_planner = true` trên **cả**
+`kSucceeded` lẫn `kFailed` — replan sau recovery đã là hành vi mặc định, thêm kênh riêng là thêm thứ
+không ai đọc.
+
+**`kCancelled` không qua ranh giới port.** `move_base2` không tick recovery sau khi cancel (state
+chuyển sang `CANCELLING`, nơi mọi nguồn vận tốc bị khoá). Đường `onCancel()` vẫn phải đúng vì nó là
+hàng rào cho host khác, nhưng `RecoveryTick` của `move_base2` không cần giá trị tương ứng.
+
+## Điều kiện đóng lại phần legacy
+
+`robot_nav_core::RecoveryBehavior` và `robot_clear_costmap_recovery` chỉ còn được tham chiếu ở hai
+nơi, và cả hai biến mất cùng lúc khi `move_base2` thay xong `move_base` cũ:
+
+| Nơi | Xử lý |
+|---|---|
+| `move_base/src/move_base.cpp` (loader gen-1) | Bị `move_base2` thay, không sửa |
+| `robot_clear_costmap_recovery` | Bị `ClearCostmapRecovery` gen-2 thay, không port |
+
+Khoá `recovery_behaviors:` trong `move_base_common_params.yaml` đã được gỡ: các entry cũ trỏ tên
+alias vào `.so` gen-2 trong khi loader ở đó import theo chữ ký gen-1, và Boost.DLL không kiểm kiểu
+qua ranh giới `.so`.

docs/PLUGIN_GUIDE.md

@@ -1,110 +1,160 @@
-# Hướng Dẫn Viết Plugin recovery_core
+# Viết một recovery behavior mới
 
-Package hiện có 4 plugin mẫu dưới `plugins/`:
+## 1. Chọn họ output
-- `clear_costmap_recovery` — nhóm B, one-shot, no output.
-- `rotate_recovery` — nhóm C, per-cycle velocity.
-- `back_up_recovery` — nhóm C, per-cycle velocity.
-- `regen_path_recovery` — nhóm A, path output.
 
-## Bước chung
+Quyết định đầu tiên và không đổi được về sau: `outputKind()`.
 
-1. Kế thừa `recovery_core::RecoveryBehavior`.
+| Họ | Khi nào | Cổng bắt buộc trong context |
-2. Override hook `onConfigure()` (tuỳ chọn) — đọc param riêng qua `robot::NodeHandle("~/" + name)`;
+|---|---|---|
-   ngữ cảnh tf/global_path/costmap lấy qua `ctx()`.
+| `kNone` | Behavior không lái robot (đợi, xoá costmap, gọi thiết bị ngoài) | — |
-3. Override `onStart(goal)` + `onUpdate()` theo họ (xem dưới). KHÔNG override
+| `kVelocity` | Behavior tự lái từng cycle | `PoseProvider` + `CollisionChecker` |
-   `configure/start/update/cancel` — base đã lo guard vòng đời/cancel.
+| `kPath` | Behavior sinh ra đường đi mới | `PlanProvider` |
-4. Thêm factory `static RecoveryBehaviorPtr create()` **không tham số** + `BOOST_DLL_ALIAS(...)`.
 
-## Vòng đời (goal-driven)
+Base kiểm cổng theo họ ngay ở `configure()`, nên một behavior họ velocity thiếu collision checker sẽ
+**không nạp được**, thay vì phát hiện lúc đang lái.
 
-```
+## 2. Khung plugin
-configure(name, ctx)      // 1 lần: cache ctx, đọc config chung, gọi onConfigure()
-        │
-start(goal)               // mỗi lượt: chốt mục tiêu RUNTIME (angle/distance/pose), gọi onStart()
-        │
-loop update()             // mỗi cycle tới khi status != kRunning; base guard vòng đời/cancel
-        │
-[cancel()]                // update() kế tiếp -> stop output + kCancelled
-```
-
-`RecoveryGoal` là điểm mấu chốt: cùng plugin, mỗi lượt caller đặt `goal.angle` (rad) hay
-`goal.distance` (m) khác nhau; field = 0 nghĩa là dùng default đã cấu hình. Override thêm truyền
-qua `goal.params` (vd `goal.params["angular_speed"] = 0.8`).
-
-## Override theo họ
-
-| Họ | Override | Trả về |
-|----|----------|--------|
-| A. path | `onUpdate()` (one-shot) | `RecoveryResult::PathOut(path, kSucceeded)` |
-| B. none | `onUpdate()` (one-shot) | `RecoveryResult::Succeeded()` / `Failed()` |
-| C. velocity | `onStart()` chốt goal + `onUpdate()` mỗi cycle | `RecoveryResult::Velocity(twist, kRunning\|kSucceeded)` |
-
-Mọi kết quả nên gắn feedback qua `.withProgress(progress, remaining)` và `.withMessage(...)` để
-caller giám sát tiến độ (progress ∈ [0,1], remaining theo rad/m).
-
-## Export bằng Boost.DLL (bắt buộc cho plugin)
 
 ```cpp
 #include <recovery_core/recovery_behavior.h>
-#include <boost/dll/alias.hpp>
+#include <recovery_core/recovery_math.h>
 
-namespace recovery_plugins {
+#include <boost/dll/alias.hpp>
-class SpinRecovery : public recovery_core::RecoveryBehavior {
+#include <robot/robot.h>
- public:
+
-  static recovery_core::RecoveryBehavior::RecoveryBehaviorPtr create() {
+namespace recovery_plugins
-    return std::make_shared<SpinRecovery>();
+{
+namespace
+{
+constexpr double kDefaultLimit = 1.0;   // [m] đơn vị ghi ngay tại chỗ khai báo
+}
+
+class MyRecovery final : public recovery_core::RecoveryBehavior
+{
+public:
+  MyRecovery() = default;
+
+  static recovery_core::RecoveryBehavior::RecoveryBehaviorPtr create()
+  {
+    return std::make_shared<MyRecovery>();
   }
- protected:
+
-  // override onConfigure()/onStart(goal)/onUpdate()...
+  recovery_core::RecoveryOutputType outputKind() const override
+  {
+    return recovery_core::RecoveryOutputType::kVelocity;
+  }
+
+protected:
+  // nh ĐÃ được caller scope vào namespace param của instance này — đọc khoá phẳng.
+  bool onConfigure(robot::NodeHandle& nh) override
+  {
+    nh.param("limit", limit_, kDefaultLimit);
+    if (!std::isfinite(limit_) || limit_ <= 0.0)
+    {
+      robot::log_warning("[recovery_core] '%s': limit=%.3f không hợp lệ; dùng %.3f.",
+                         name().c_str(), limit_, kDefaultLimit);
+      limit_ = kDefaultLimit;
+    }
+    return true;   // false = không chạy được; registry bỏ behavior này và log đích danh
+  }
+
+  // Chốt mục tiêu lượt này + kiểm điều kiện an toàn để khởi động. KHÔNG sinh tick ở đây.
+  bool onStart(const recovery_core::RecoveryGoal& goal) override
+  {
+    if (!ctx().pose->getRobotPose(start_pose_))
+      return false;                        // không biết robot ở đâu -> từ chối khởi động
+
+    target_ = goal.distance.value_or(limit_);
+    return true;
+  }
+
+  // dt là thời gian THẬT tính từ tick trước; tick đầu ngay sau start() có dt = 0.
+  recovery_core::RecoveryResult onUpdate(const robot::Time& now, double dt) override
+  {
+    robot_geometry_msgs::PoseStamped pose;
+    if (!ctx().pose->getRobotPose(pose))
+      return stopResult(recovery_core::RecoveryStatus::kFailed).withMessage("mất pose robot");
+
+    const double done = -recovery_core::projectOntoHeading(pose, start_pose_, start_yaw_);
+    if (done >= target_)
+      return stopResult(recovery_core::RecoveryStatus::kSucceeded).withProgress(1.0, 0.0);
+
+    robot_geometry_msgs::Twist cmd;
+    // ... tính cmd, nhớ ramp theo acc_lim và kiểm collision ở pose dự đoán ...
+    return recovery_core::RecoveryResult::Velocity(cmd, recovery_core::RecoveryStatus::kRunning)
+        .withProgress(done / target_, target_ - done);
+  }
+
+  // Tuỳ chọn: cơ hội giảm tốc thay vì nhảy thẳng về 0.
+  recovery_core::RecoveryResult onCancel() override
+  {
+    return stopResult(recovery_core::RecoveryStatus::kCancelled).withMessage("cancelled");
+  }
+
+private:
+  double limit_ = kDefaultLimit;                    ///< [m]
+  double target_ = kDefaultLimit;                   ///< [m]
+  double start_yaw_ = 0.0;                          ///< [rad]
+  robot_geometry_msgs::PoseStamped start_pose_;
 };
+
 }  // namespace recovery_plugins
 
-// alias = `type` dùng trong YAML recovery_behaviors.
+BOOST_DLL_ALIAS(recovery_plugins::MyRecovery::create, MyRecovery)
-BOOST_DLL_ALIAS(recovery_plugins::SpinRecovery::create, spin_recovery)
 ```
 
-## Nạp phía loader (adapter/caller — không nằm trong recovery_core)
+Những gì **không** phải viết: guard `configured_`/`started_`, kiểm cancel, đo `elapsed`, ép
+`timeout`, đặt `output_type` cho stop output, kiểm NaN của lệnh vận tốc. Base làm hết — và giữ được
+vì toàn bộ state của nó là `private`.
 
-```cpp
+## 3. Đăng ký build
-#include <boost/dll/import.hpp>
-auto loader = boost::dll::import_alias<recovery_core::RecoveryBehavior::RecoveryBehaviorPtr()>(
-    path_so, /*symbol=*/type, boost::dll::load_mode::append_decorations);
-recovery_core::RecoveryBehavior::RecoveryBehaviorPtr behavior = loader();
 
-recovery_core::RecoveryContext ctx;
+```cmake
-ctx.tf = tf; ctx.global_path = global_path;
+add_recovery_core_plugin(
-ctx.global_costmap = global_costmap; ctx.local_costmap = local_costmap;
+  recovery_core_my_recovery
-behavior->configure(name, ctx);
+  plugins/my_recovery.cpp
-
+)
-recovery_core::RecoveryGoal goal;
-goal.angle = 1.57;                    // "quay 90 độ ngay lượt này"
-recovery_core::RecoveryResult r = behavior->start(goal);
-while (r.status == recovery_core::RecoveryStatus::kRunning) {
-  r = behavior->update();            // publish r.command; đọc r.progress/r.remaining/r.message
-}
 ```
 
-Lưu ý: adapter/test phải giữ handle `.so` sống lâu hơn object plugin. Nếu library bị unload trong
+Thêm tên target vào `catkin_package(LIBRARIES ...)` để consumer khác dùng lại được.
-khi object plugin còn tồn tại, virtual call qua vtable của plugin có thể crash.
 
-## CMake cho plugin
+## 4. Khai trong YAML
 
-- `find_package(Boost REQUIRED COMPONENTS system filesystem)`
+```yaml
-- link `${Boost_LIBRARIES}`, `${CMAKE_DL_LIBS}`, `recovery_core`
+recovery:
-- `set_target_properties(<plugin> PROPERTIES POSITION_INDEPENDENT_CODE ON)`
+  behaviors:
-- build shared library, tên library + symbol khớp `type`; install `.so` nơi loader tìm.
+    - {name: my_instance, type: MyRecovery}   # thứ tự trong danh sách CHÍNH LÀ thứ tự thử
+  my_instance:
+    limit: 0.5                                # [m]
+    timeout: 10.0                             # [s] base đọc; 0 = không giới hạn
 
-## Test plugin
+MyRecovery:
-
+  library_path: librecovery_core_my_recovery  # THIẾU KHOÁ NÀY LÀ LỖI PHỔ BIẾN NHẤT
-```bash
-catkin_make --pkg recovery_core
-./devel/lib/recovery_core/recovery_core_plugin_loader_test
 ```
 
-Standalone:
+Tên alias trong `BOOST_DLL_ALIAS` phải khớp `type`. Namespace param của instance là `<ns>/<name>` —
+registry dựng `NodeHandle` đó và truyền vào `configure()`; plugin **không** tự đi tìm config trên
+disk. Đó là lý do test chỉ cần trỏ vào cây config của mình là chạy được.
 
-```bash
+Một plugin có thể có **nhiều instance** với tham số khác nhau — bộ mặc định dùng
-cmake -S src/AMR_T800/pnkx_nav_core/src/Navigations/Libraries/recovery_core -B /tmp/recovery_core_phase3_build
+`ClearCostmapRecovery` hai lần (`conservative_reset` và `aggressive_reset`).
-make -C /tmp/recovery_core_phase3_build -j4
+
-/tmp/recovery_core_phase3_build/test/recovery_core_plugin_loader_test
+## 5. Test
-```
+
+Đặt trong `test/`, thêm tên vào danh sách `RECOVERY_CORE_TESTS` của `CMakeLists.txt` (dùng
+`catkin_add_gtest`, nên `ctest -R recovery_core` bắt được).
+
+Dùng `recovery_test::VelocityRig` (costmap giả + pose giả + collision checker giả + đồng hồ giả) và
+nạp plugin **qua `RecoveryRegistry`** để đi đúng đường Boost.DLL mà runtime dùng — không link thẳng
+`.so` vào test.
+
+Tối thiểu phải phủ:
+
+- từ chối khởi động khi điều kiện an toàn không thoả;
+- mất pose giữa chừng → `kFailed` + lệnh dừng;
+- loop chạy chậm (dt gấp 5–20 lần nhịp thường) vẫn dừng đúng chỗ;
+- cancel → lệnh dừng;
+- param ngoài dải → dùng default, không nhận giá trị sai.
+
+Cuối cùng, kiểm rằng test **fail được**: gỡ `.so` khỏi `devel/lib` rồi chạy lại. Phải đỏ. Bộ test cũ
+của gói này in `[PASS]` khi không nạp được plugin nào — đó là thứ phải tránh.

docs/SAFETY.md

@@ -1,30 +1,64 @@
-# An Toàn — recovery_core
+# An toàn — recovery_core
 
-> Cảnh báo an toàn khi dùng interface này. Đọc trước khi triển khai plugin họ vận tốc.
+> Đọc trước khi viết plugin họ vận tốc. Recovery chạy đúng lúc robot đã ở tình huống xấu, nên
+> default ở đây phải fail-safe chứ không fail-open.
 
-## recovery_core KHÔNG đảm bảo
+## Base bảo đảm
 
-- **Không collision-check tự động.** Interface không kiểm tra va chạm khi sinh vận tốc
+Những điều dưới đây đúng kể cả khi plugin viết ẩu — base cưỡng chế, không phụ thuộc plugin nhớ.
-  (backup/spin) hay khi tạo path. Việc tránh va chạm là trách nhiệm của **plugin** (dùng
-  costmap được cấp qua `initialize`) hoặc của **caller**.
-- **Không quản lý vòng lặp thời gian thực.** Caller chịu trách nhiệm gọi `update()` đúng nhịp
-  và publish command.
-- **Không đảm bảo frame/đơn vị.** Pose lấy từ costmap/tf phải đúng frame; đơn vị phải nhất quán
-  (m, rad, s, m/s, rad/s).
-- **Guard vòng đời ở base.** `start()` trước `configure()`, hay `update()` trước `start()`, đều trả
-  `RecoveryResult::Failed()`. Sau `cancel()`, base trả stop output (Twist 0) + `kCancelled`.
 
-## Nguyên tắc cho plugin
+| Bất biến | Cơ chế |
+|---|---|
+| Họ velocity không chạy được nếu thiếu pose hoặc collision checker | `configure()` trả `false` khi `ctx.pose`/`ctx.collision` null |
+| `dt` là thời gian **thật**, không phải chu kỳ cấu hình | `update(now)` tính `now - lần trước`; đồng hồ đi lùi → `dt = 0` |
+| `elapsed` luôn có mặt trên mọi kết quả | Base ghi, plugin không phải đặt |
+| Recovery không treo vô hạn | Param `timeout` [s]; quá hạn → `kFailed` + stop output |
+| `output_type` luôn thuộc `{outputKind(), kNone}` | Sai họ → hạ về `kNone`, xoá dữ liệu, log lỗi |
+| NaN/Inf không ra được `cmd_vel` | Lệnh không hữu hạn → Twist 0 + `kFailed` |
+| Guard vòng đời không cần plugin tự làm | `start` trước `configure`, `update` trước `start` → `kFailed` + stop output |
+| Stop output đúng họ | Họ velocity nhận **Twist 0 tường minh**; họ khác nhận `kNone` |
 
-- Guard costmap/tf null (lấy qua `ctx()`) trước khi thao tác; fail an toàn -> `RecoveryResult::Failed()`.
+## Base KHÔNG bảo đảm
-- Không cần tự guard vòng đời/cancel — base đã lo; plugin tập trung logic recovery.
-- Với họ vận tốc: khi không chắc an toàn, trả **stop command** (Twist 0), không trả vận tốc mù.
-- Kiểm tra NaN/Inf của pose/vận tốc trước khi xuất command.
-- Tôn trọng giới hạn vận tốc/gia tốc của robot (đọc qua param).
-- `BackUpRecovery` có param `require_costmap` để bắt buộc có local costmap trước khi xuất
-  vận tốc lùi. Adapter production vẫn nên có safety gate/collision check riêng trước publish.
 
-## Trách nhiệm caller/adapter
+- **Không thay caller quyết định có nên recovery hay không.** Ngữ cảnh cho phép recovery (đã dừng
+  planner, không đang ở chế độ thủ công, không đang estop) là việc của caller.
+- **Không quản lý nhịp gọi.** Caller phải tick đúng chu kỳ control và publish lệnh.
+- **Không là hàng rào vận tốc cuối cùng.** Plugin clamp theo giới hạn của mình; `VelocityArbiter`
+  phía ngoài vẫn phải clamp lần cuối. Hai tầng, không chồng nhau: plugin lập **kế hoạch** dừng/ramp,
+  arbiter **chặn** giá trị vượt ngưỡng.
 
-- Đảm bảo ngữ cảnh cho phép recovery (vd: đã dừng planner, vùng xung quanh đủ an toàn).
+## Quy tắc cho plugin họ vận tốc
-- Áp timeout/giám sát ngoài để tránh recovery chạy vô hạn.
+
+1. **Không tích phân vận tốc lệnh để đo tiến độ.** Dùng `PoseProvider` và hình chiếu delta pose
+   (`recovery_core::projectOntoHeading`). Tích phân lệnh thì bánh trượt hay robot bị chặn vẫn báo đi
+   đủ quãng — và đó là lúc nguy hiểm nhất để nói dối.
+2. **Kiểm va chạm trên pose *dự đoán*, trước khi phát lệnh.** Không phải sau. `BackUpRecovery` dò
+   pose ở cuối chu kỳ tới; `RotateRecovery` quét toàn bộ cung ngay tại `onStart()` và refuse khởi
+   động nếu có bất kỳ góc nào bị chặn.
+3. **Mất pose là dừng.** `getRobotPose()` trả `false` → trả `kFailed` + Twist 0. Không dùng pose cũ.
+4. **Ramp theo `acc_lim_*`.** Tick đầu không được nhảy thẳng lên tốc độ tối đa; `onCancel()` cũng
+   nên giảm tốc thay vì nhảy bậc.
+5. **Clamp mọi param có dải.** `angle` ∈ [-2π, 2π], `distance` ∈ (0, `*_max`], tốc độ ≤ trần. Param
+   sai thì log cảnh báo **kèm giá trị** rồi dùng default — không im lặng.
+6. **Ghi rõ dấu.** `linear.x < 0` là lùi; `angular.z > 0` là ngược chiều kim đồng hồ. Param cấu hình
+   là **độ lớn**, dấu do plugin đặt theo ngữ cảnh.
+
+## Quy tắc chung cho mọi plugin
+
+- `onUpdate()` chạy trên thread phát `cmd_vel`. **Không block quá một phần nhỏ chu kỳ control**:
+  không parse file, không cấp phát lớn, không gọi việc nặng của costmap (`ClearCostmapRecovery` cố
+  ý không gọi `updateMap()` vì lý do này).
+- **Không cache `Costmap2D*`** qua các tick. Con trỏ có thể bị thay giữa hai cycle; lấy lại mỗi lần
+  dùng.
+- Kiểm mã trả về của `CollisionChecker` bằng `< 0`, **không** so với một giá trị âm cụ thể — các
+  hiện thực trong workspace không thống nhất mã lỗi.
+- `configure()` trả `false` khi cấu hình không chạy được, thay vì log warning rồi chạy tiếp bằng
+  default. Registry sẽ bỏ behavior đó và log đích danh.
+
+## Trách nhiệm của caller
+
+- Làm mới con trỏ costmap trong `RecoveryContext` trước mỗi `start()`/`update()`.
+- Tick recovery từ **đúng một thread** — thread sở hữu `cmd_vel`. Thread riêng cho recovery nghĩa là
+  hai bộ điều khiển cùng phát vận tốc.
+- Chỉ gọi `update()` sau khi `start()` trả `true`.
+- Sau `cancel()`, hoặc tick tiếp để nhận stop output, hoặc tự khoá nguồn vận tốc về 0.

include/recovery_core/adapters/costmap_collision_checker.h

@@ -0,0 +1,92 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * recovery_core — CollisionChecker dựng trên Costmap2DROBOT.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef RECOVERY_CORE_ADAPTERS_COSTMAP_COLLISION_CHECKER_H_
+#define RECOVERY_CORE_ADAPTERS_COSTMAP_COLLISION_CHECKER_H_
+
+#include <vector>
+
+#include <robot_geometry_msgs/Point.h>
+
+#include <recovery_core/recovery_context.h>
+
+namespace robot_costmap_2d { class Costmap2DROBOT; }
+
+namespace recovery_core
+{
+
+/**
+ * @class CostmapCollisionChecker
+ * @brief Cost của footprint tại một pose giả định, quét trên costmap hiện hành.
+ *
+ * Mã trả về khớp **chính xác** `nav_test_harness::FakeCollisionChecker` để code tiêu thụ không đổi
+ * cách đọc giữa test và runtime:
+ *  - `-1` một điểm của footprint nằm ngoài bản đồ;
+ *  - `-2` một điểm rơi vào `LETHAL_OBSTACLE` hoặc `INSCRIBED_INFLATED_OBSTACLE`;
+ *  - `-3` một điểm rơi vào `NO_INFORMATION` (chưa biết → coi là không đi được);
+ *  - `>= 0` cost lớn nhất dọc biên footprint.
+ *
+ * @note Cố ý **không** bọc `robot_base_local_planner::CostmapModel`: lớp đó cache một tham chiếu
+ *       costmap trong constructor (đúng thứ CLAUDE.md cấm), và mã lỗi của nó ngược với harness
+ *       (-1 lethal / -3 ngoài bản đồ), nên bọc nó sẽ làm runtime và test bất đồng đúng ở chỗ khó
+ *       thấy nhất.
+ *
+ * @warning Chỉ quét **biên** đa giác footprint, không quét lòng trong — giống `CostmapModel`. Ở
+ *          runtime inflation layer làm vật cản nở ra nên biên luôn chạm; trong test thì kịch bản
+ *          phải tự đặt vật cản chạm biên.
+ *
+ * Con trỏ costmap **non-owning**; lớp này không cache `Costmap2D*` bên trong mà lấy lại mỗi lần gọi
+ * — costmap có thể bị thay giữa hai cycle, và cache chính là nguyên nhân lỗi double-free đã ghi
+ * nhận trong workspace.
+ */
+class CostmapCollisionChecker final : public CollisionChecker
+{
+public:
+  /// Mã lỗi, khớp `nav_test_harness::FakeCollisionChecker`.
+  static constexpr double kOutsideMap = -1.0;
+  static constexpr double kLethal = -2.0;
+  static constexpr double kUnknown = -3.0;
+
+  explicit CostmapCollisionChecker(robot_costmap_2d::Costmap2DROBOT* costmap = nullptr)
+    : costmap_(costmap)
+  {
+  }
+
+  /// @brief Trỏ lại vào costmap hiện hành. Không sở hữu.
+  void setCostmap(robot_costmap_2d::Costmap2DROBOT* costmap)
+  {
+    costmap_ = costmap;
+  }
+
+  /**
+   * @brief Ép dùng footprint này thay cho footprint của costmap.
+   * @param footprint Đa giác trong frame robot [m]. Rỗng = quay lại dùng footprint của costmap.
+   */
+  void setFootprintOverride(std::vector<robot_geometry_msgs::Point> footprint);
+
+  /// @brief Bước lấy mẫu dọc cạnh footprint [m]. Bỏ qua giá trị <= 0.
+  void setSampleStep(double step_m);
+
+  double footprintCost(double x, double y, double theta) const override;
+
+private:
+  /// @return cost tại một điểm toàn cục, hoặc mã lỗi âm.
+  double pointCost(const robot_costmap_2d::Costmap2DROBOT& costmap, double wx, double wy) const;
+
+  /// @return cost lớn nhất dọc đoạn thẳng, hoặc mã lỗi âm đầu tiên gặp phải.
+  double lineCost(const robot_costmap_2d::Costmap2DROBOT& costmap, double x0, double y0, double x1,
+                  double y1) const;
+
+  robot_costmap_2d::Costmap2DROBOT* costmap_ = nullptr;  ///< non-owning
+  std::vector<robot_geometry_msgs::Point> footprint_override_;
+  double sample_step_ = 0.025;  ///< [m]
+};
+
+}  // namespace recovery_core
+
+#endif  // RECOVERY_CORE_ADAPTERS_COSTMAP_COLLISION_CHECKER_H_

include/recovery_core/adapters/costmap_pose_provider.h

@@ -0,0 +1,54 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * recovery_core — PoseProvider dựng trên Costmap2DROBOT.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef RECOVERY_CORE_ADAPTERS_COSTMAP_POSE_PROVIDER_H_
+#define RECOVERY_CORE_ADAPTERS_COSTMAP_POSE_PROVIDER_H_
+
+#include <recovery_core/recovery_context.h>
+
+namespace robot_costmap_2d { class Costmap2DROBOT; }
+
+namespace recovery_core
+{
+
+/**
+ * @class CostmapPoseProvider
+ * @brief Lấy pose robot qua `Costmap2DROBOT::getRobotPose` (đã gồm tra TF + transform_tolerance).
+ *
+ * Con trỏ costmap là **non-owning** và có thể bị thay giữa hai lượt recovery — dùng @ref setCostmap
+ * để caller làm mới trước mỗi `start()`/`update()` thay vì giữ một bản cache trong context.
+ */
+class CostmapPoseProvider final : public PoseProvider
+{
+public:
+  explicit CostmapPoseProvider(robot_costmap_2d::Costmap2DROBOT* costmap = nullptr)
+    : costmap_(costmap)
+  {
+  }
+
+  /// @brief Trỏ lại vào costmap hiện hành. Không sở hữu.
+  void setCostmap(robot_costmap_2d::Costmap2DROBOT* costmap)
+  {
+    costmap_ = costmap;
+  }
+
+  /**
+   * @copydoc PoseProvider::getRobotPose
+   *
+   * Trả false khi chưa có costmap hoặc TF không cho ra pose — hai trường hợp đều nghĩa là "không
+   * biết robot ở đâu", và plugin phải dừng an toàn.
+   */
+  bool getRobotPose(robot_geometry_msgs::PoseStamped& pose) const override;
+
+private:
+  robot_costmap_2d::Costmap2DROBOT* costmap_ = nullptr;  ///< non-owning
+};
+
+}  // namespace recovery_core
+
+#endif  // RECOVERY_CORE_ADAPTERS_COSTMAP_POSE_PROVIDER_H_

include/recovery_core/recovery_behavior.h

@@ -4,10 +4,8 @@
  *
  * recovery_core — interface (base class) cho recovery behaviors.
  *
- * Vòng đời hợp nhất, hướng-goal cho cả 3 họ recovery (path / none / velocity):
+ * Vòng đời tick-based, hướng-goal:
- *   configure(name, ctx)  -> start(goal)  -> lặp update()  -> [cancel()]
+ *   configure(name, ctx, nh) -> start(goal, now) -> lặp update(now) -> [cancel()]
- * Base lo phần chung (guard init/cancel, đẩy feedback); plugin chỉ
- * override các hook nhỏ onConfigure()/onStart()/onUpdate().
  *
  * Author: DuongTD
  *********************************************************************/
@@ -16,12 +14,11 @@
 
 #include <memory>
 #include <string>
-#include <vector>
 
-#include <tf3/buffer_core.h>
+#include <robot/node_handle.h>
-#include <robot_costmap_2d/costmap_2d_robot.h>
+#include <robot/time.h>
-#include <robot_geometry_msgs/PoseStamped.h>
 
+#include <recovery_core/recovery_context.h>
 #include <recovery_core/recovery_types.h>
 
 namespace recovery_core
@@ -29,60 +26,82 @@ namespace recovery_core
 
 /**
  * @class RecoveryBehavior
- * @brief Interface hướng-goal cho mọi hành vi recovery (không chạy roscpp/ROS master thật).
+ * @brief Interface hướng-goal, tick-based cho mọi hành vi recovery.
  *
- * Thiết kế theo template-method: API công khai (configure/start/update/cancel) là NON-VIRTUAL
+ * Template-method: API công khai (`configure`/`start`/`update`/`cancel`) là NON-VIRTUAL và base giữ
- * và do base xử lý phần lặp lại; plugin chỉ triển khai các hook protected:
+ * toàn bộ bất biến; plugin chỉ triển khai hook protected. Khác bản trước ở chỗ base **thật sự** giữ
- *  - onConfigure()          : đọc param riêng từ ctx()/NodeHandle (tuỳ chọn).
+ * được bất biến — mọi state là `private`, plugin không ghi vào được.
- *  - onStart(goal)          : chốt mục tiêu lượt này (rad/m/pose), reset trạng thái tiến độ.
- *  - onUpdate()             : một "tick"; họ one-shot (path/clear) hoàn tất ngay lần đầu.
  *
- * Ba họ hành vi:
+ * Base chịu trách nhiệm:
- *  - Họ A (trả path)     : onUpdate() trả RecoveryResult::PathOut(...), kSucceeded ngay.
+ *  - guard vòng đời (`start` sau `configure`, `update` sau `start`);
- *  - Họ B (không output) : onUpdate() làm việc rồi trả Succeeded()/Failed() ngay.
+ *  - kiểm ngữ cảnh bắt buộc theo @ref outputKind (họ velocity phải có pose + collision checker);
- *  - Họ C (trả vận tốc)  : onUpdate() sinh Twist mỗi cycle tới khi đạt goal -> kSucceeded.
+ *  - validate goal (NaN/Inf) trước khi giao cho plugin;
+ *  - đo `elapsed` và ép `timeout`;
+ *  - cưỡng chế `output_type` của mọi kết quả thuộc `{outputKind(), kNone}`;
+ *  - sinh **stop output đúng họ** khi guard/cancel/timeout — họ velocity nhận Twist 0 tường minh,
+ *    họ khác nhận `kNone` (base không bịa ra output vận tốc cho behavior không lái).
  *
- * Bất biến: start() chỉ hợp lệ sau configure(); update() chỉ chạy sau start(). Vi phạm ->
+ * Plugin chịu trách nhiệm: đọc param riêng, chốt mục tiêu lượt này, và sinh một tick an toàn.
- * RecoveryResult::Failed(). Base tự trả stop output + kCancelled sau khi cancel().
+ *
+ * @note Không thread-safe. Recovery được tick từ đúng thread sở hữu cmd_vel; hai thread cùng phát
+ *       vận tốc là hai bộ điều khiển tranh nhau.
  */
 class RecoveryBehavior
 {
 public:
-  /// shared_ptr để khớp cơ chế nạp Boost.DLL của workspace
+  /// shared_ptr để khớp cơ chế nạp Boost.DLL của workspace.
-  /// (boost::dll::import_alias<recovery_core::RecoveryBehavior::RecoveryBehaviorPtr()>(...)).
   using RecoveryBehaviorPtr = std::shared_ptr<RecoveryBehavior>;
 
   virtual ~RecoveryBehavior() = default;
 
+  RecoveryBehavior(const RecoveryBehavior&) = delete;
+  RecoveryBehavior& operator=(const RecoveryBehavior&) = delete;
+
   // ------------------------------------------------------------------
-  // API công khai — NON-VIRTUAL, base xử lý phần chung.
+  // API công khai — NON-VIRTUAL.
   // ------------------------------------------------------------------
 
   /**
-   * @brief Cấu hình một lần: cache ngữ cảnh (không sở hữu), đọc config chung, gọi onConfigure().
+   * @brief Cấu hình một lần.
-   * @param name Tên instance (namespace param + log).
+   * @param name Tên instance, dùng cho log.
-   * @param ctx  Ngữ cảnh môi trường (tf/costmap/global_path). Gọi lại lần 2 bị bỏ qua.
+   * @param ctx  Các cổng môi trường. Base kiểm cổng bắt buộc theo @ref outputKind.
+   * @param nh   NodeHandle **đã được caller scope sẵn vào namespace param của instance này**.
+   *             Plugin không tự dựng NodeHandle từ disk — nếu tự dựng thì không test được mà không
+   *             có cây config thật, và đó là lý do bộ test cũ phải đọc config production.
+   * @return false nếu thiếu cổng bắt buộc, param không hợp lệ, hoặc gọi lần thứ hai.
    */
-  void configure(const std::string& name, const RecoveryContext& ctx);
+  bool configure(const std::string& name, const RecoveryContext& ctx, robot::NodeHandle& nh);
 
   /**
-   * @brief Bắt đầu một lượt recovery với mục tiêu RUNTIME.
+   * @brief Bắt đầu một lượt recovery.
-   * @param goal Mục tiêu lượt này (góc/khoảng lùi/pose + override). Field 0 = dùng default plugin.
+   * @param goal Mục tiêu lượt này. Trường không đặt = dùng default của plugin.
-   * @return Kết quả tick đầu (thường kRunning; kFailed nếu chưa configure hoặc goal không hợp lệ).
+   * @param now  Thời điểm hiện tại — mốc cho `elapsed` và `timeout`.
+   * @return false nếu chưa configure, goal không hợp lệ, hoặc plugin từ chối khởi động (ví dụ cung
+   *         sẽ quay đã bị chặn). **Không sinh tick ở đây** — tick chỉ ra từ `update()`.
    */
-  RecoveryResult start(const RecoveryGoal& goal);
+  bool start(const RecoveryGoal& goal, const robot::Time& now);
 
   /**
-   * @brief Một control cycle. Guard chưa start/cancel trước khi gọi onUpdate().
+   * @brief Một control cycle.
+   * @param now Thời điểm hiện tại. Base tự tính `dt = now - lần update trước`.
+   *
+   * Gọi sau khi lượt đã kết thúc thì trả lại đúng trạng thái kết thúc kèm stop output, không tick
+   * thêm. Gọi khi chưa `start()` thì trả `kFailed` + stop output.
    */
-  RecoveryResult update();
+  RecoveryResult update(const robot::Time& now);
 
   /**
-   * @brief Yêu cầu huỷ: update() kế tiếp trả stop output + kCancelled.
+   * @brief Yêu cầu dừng. Tick kế tiếp trả stop output + `kCancelled`.
+   *
+   * @note Trong `move_base2`, state machine không tick recovery sau khi cancel (state chuyển sang
+   *       `CANCELLING`, nơi mọi nguồn vận tốc bị khoá), nên `kCancelled` thường không bao giờ đến
+   *       tay caller. Đường này vẫn phải đúng: nó là hàng rào cho host khác và cho tương lai.
    */
   void cancel();
 
-  /// @brief Trạng thái hiện tại của lượt recovery.
+  /// @brief Họ output của behavior. Khai một lần; base dùng để cưỡng chế bất biến.
+  virtual RecoveryOutputType outputKind() const = 0;
+
   RecoveryStatus status() const
   {
     return status_;
@@ -93,10 +112,16 @@ public:
     return name_;
   }
 
-  /// Giữ tên cũ cho tương thích call-site loader.
+  /// @brief [s] thời gian trôi từ `start()`. 0 nếu chưa start.
-  std::string getNameRecoveryBehavior() const
+  double elapsed() const
   {
-    return name_;
+    return elapsed_;
+  }
+
+  /// @brief [s] trần thời gian một lượt; 0 = không giới hạn.
+  double timeout() const
+  {
+    return timeout_;
   }
 
 protected:
@@ -106,23 +131,79 @@ protected:
   // Hook cho plugin.
   // ------------------------------------------------------------------
 
-  /// @brief Đọc param riêng (qua ctx()/NodeHandle) sau khi base cache ngữ cảnh. Tuỳ chọn.
+  /**
-  virtual void onConfigure() {}
+   * @brief Đọc param riêng của plugin từ @p nh (đã scope sẵn).
+   * @return false nếu param không hợp lệ tới mức không chạy được. Sai nhẹ thì log + dùng default.
+   */
+  virtual bool onConfigure(robot::NodeHandle& nh) = 0;
 
-  /// @brief Chốt mục tiêu lượt này; reset bộ đếm tiến độ nội bộ. Trả tick khởi đầu.
+  /**
-  virtual RecoveryResult onStart(const RecoveryGoal& goal) = 0;
+   * @brief Chốt mục tiêu lượt này, reset bộ đếm tiến độ, kiểm điều kiện an toàn để khởi động.
+   * @return false = từ chối khởi động; base đặt status về kFailed.
+   */
+  virtual bool onStart(const RecoveryGoal& goal) = 0;
 
-  /// @brief Một tick. Họ one-shot trả kSucceeded/kFailed ngay; họ velocity trả kRunning tới goal.
+  /**
-  virtual RecoveryResult onUpdate() = 0;
+   * @brief Một tick.
+   * @param now Thời điểm hiện tại.
+   * @param dt  [s] khoảng cách tới tick trước, đo **thật** chứ không phải chu kỳ cấu hình.
+   *            Luôn >= 0; tick đầu sau `start()` có dt = 0.
+   *
+   * @warning Không được block quá một phần nhỏ của chu kỳ control — nó chạy trên thread phát
+   *          cmd_vel. Không parse file, không cấp phát lớn, không gọi việc nặng của costmap.
+   */
+  virtual RecoveryResult onUpdate(const robot::Time& now, double dt) = 0;
 
-  // Truy cập cho plugin (chỉ đọc ngữ cảnh/goal).
+  /**
-  const RecoveryContext& ctx() const { return ctx_; }
+   * @brief Cơ hội phát lệnh giảm tốc trước khi dừng hẳn.
-  const RecoveryGoal& goal() const { return goal_; }
+   *
-  bool cancelRequested() const { return cancel_requested_; }
+   * Default trả stop output ngay. Plugin họ velocity đang chạy nhanh nên override để ramp về 0 thay
+   * vì nhảy bậc — dù `VelocityArbiter` phía ngoài có clamp gia tốc, kế hoạch dừng là việc của
+   * plugin, không phải của hàng rào cuối.
+   */
+  virtual RecoveryResult onCancel();
+
+  // ------------------------------------------------------------------
+  // Truy cập chỉ-đọc cho plugin.
+  // ------------------------------------------------------------------
+
+  const RecoveryContext& ctx() const
+  {
+    return ctx_;
+  }
+
+  const RecoveryGoal& goal() const
+  {
+    return goal_;
+  }
+
+  bool cancelRequested() const
+  {
+    return cancel_requested_;
+  }
+
+  /// @brief Stop output đúng họ của behavior này, kèm @p status.
+  RecoveryResult stopResult(RecoveryStatus status) const;
+
+private:
+  /// Kiểm ngữ cảnh có đủ cổng bắt buộc cho họ output này không.
+  bool validateContext() const;
+
+  /// Kiểm goal không mang NaN/Inf và distance > 0 nếu được đặt.
+  bool validateGoal(const RecoveryGoal& goal) const;
+
+  /// Ép bất biến output + gắn elapsed lên kết quả plugin trả về.
+  RecoveryResult finalize(RecoveryResult result) const;
 
   RecoveryContext ctx_;
   RecoveryGoal goal_;
   std::string name_;
+
+  robot::Time start_time_;
+  robot::Time last_update_;
+  double elapsed_ = 0.0;  ///< [s]
+  double timeout_ = 0.0;  ///< [s], 0 = không giới hạn
+
   bool configured_ = false;
   bool started_ = false;
   bool cancel_requested_ = false;

include/recovery_core/recovery_context.h

@@ -0,0 +1,126 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * recovery_core — ngữ cảnh môi trường cấp cho recovery behavior.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef RECOVERY_CORE_RECOVERY_CONTEXT_H_
+#define RECOVERY_CORE_RECOVERY_CONTEXT_H_
+
+#include <vector>
+
+#include <robot_geometry_msgs/PoseStamped.h>
+
+// Forward declare: contract không kéo header costmap vào mọi plugin.
+namespace robot_costmap_2d { class Costmap2DROBOT; }
+
+namespace recovery_core
+{
+
+/**
+ * @enum RecoveryTrigger
+ * @brief Vì sao caller vào recovery.
+ *
+ * Khai riêng ở đây thay vì dùng `move_base2::RecoveryTrigger` vì chiều phụ thuộc là một chiều:
+ * `move_base2` biết `recovery_core`, không được ngược lại. `RecoveryRunner` map 1:1 hai enum bằng
+ * `switch`, nên compiler bắt được ngay khi một bên thêm giá trị mới.
+ */
+enum class RecoveryTrigger
+{
+  kUnspecified,        ///< Caller không nói lý do.
+  kPlanningFailed,     ///< Không lập được plan trong thời gian cho phép.
+  kControllingFailed,  ///< Không sinh được lệnh vận tốc hợp lệ trong thời gian cho phép.
+  kOscillation         ///< Robot quẩn tại chỗ quá lâu.
+};
+
+const char* toString(RecoveryTrigger trigger);
+
+/**
+ * @class PoseProvider
+ * @brief Nguồn pose robot trong global frame.
+ *
+ * Runtime: bọc `Costmap2DROBOT::getRobotPose` (đã gồm tra TF và kiểm `transform_tolerance`).
+ * Test: fake bơm pose theo kịch bản.
+ *
+ * @invariant Trả `false` nghĩa là **không biết robot đang ở đâu** — TF thiếu, TF quá hạn, hoặc
+ *            frame chưa sẵn sàng. Plugin PHẢI dừng an toàn, tuyệt đối không dùng pose cũ để đi
+ *            tiếp. @p pose không được ghi khi hàm trả `false`.
+ */
+class PoseProvider
+{
+public:
+  virtual ~PoseProvider() = default;
+
+  virtual bool getRobotPose(robot_geometry_msgs::PoseStamped& pose) const = 0;
+};
+
+/**
+ * @class CollisionChecker
+ * @brief Kiểm va chạm theo footprint tại một pose giả định.
+ *
+ * @warning Bên gọi chỉ được kiểm `< 0`. **Không so sánh với một giá trị âm cụ thể**: các hiện thực
+ *          trong workspace không thống nhất mã lỗi (`robot_base_local_planner::CostmapModel` dùng
+ *          -1 cho lethal và -3 cho ngoài bản đồ; `nav_test_harness::FakeCollisionChecker` dùng
+ *          -1 cho ngoài bản đồ và -2 cho lethal). Mọi giá trị âm đều mang đúng một nghĩa:
+ *          **không đặt robot ở đây được**.
+ */
+class CollisionChecker
+{
+public:
+  virtual ~CollisionChecker() = default;
+
+  /**
+   * @param x,y   Vị trí giả định trong global frame [m].
+   * @param theta Hướng giả định [rad].
+   * @return `< 0` nghĩa là không đặt được (va chạm / ngoài bản đồ / unknown);
+   *         `>= 0` là cost lớn nhất gặp phải dọc biên footprint.
+   */
+  virtual double footprintCost(double x, double y, double theta) const = 0;
+};
+
+/**
+ * @class PlanProvider
+ * @brief Nguồn global plan hiện hành.
+ *
+ * Cố ý là **accessor**, không phải con trỏ cache trong context: runtime dùng mô hình triple-buffer
+ * và **xoay con trỏ** giữa ba bộ đệm plan, nên một con trỏ lấy lúc `configure()` sẽ trỏ vào bộ đệm
+ * đang giữ vai trò scratch sau vài chu kỳ planner — không phải plan đang chạy.
+ */
+class PlanProvider
+{
+public:
+  virtual ~PlanProvider() = default;
+
+  /**
+   * @param[out] out Plan hiện hành trong global frame. Chỉ được ghi khi hàm trả `true`.
+   * @return false nếu chưa có plan nào.
+   */
+  virtual bool getGlobalPlan(std::vector<robot_geometry_msgs::PoseStamped>& out) const = 0;
+};
+
+/**
+ * @struct RecoveryContext
+ * @brief Các cổng môi trường cấp cho behavior một lần qua `configure()`.
+ *
+ * Chỉ chứa **cổng**, không chứa dữ liệu động. Cổng nào bắt buộc là tuỳ họ output của behavior —
+ * `RecoveryBehavior::configure()` kiểm và từ chối nếu thiếu, thay vì để plugin phát hiện lúc chạy.
+ *
+ * Con trỏ costmap là **non-owning và có thể bị thay** giữa hai lượt: caller (`RecoveryRunner`) làm
+ * mới context trước mỗi `start()`/`update()`. Plugin không được cache `Costmap2D*` bên trong qua
+ * các tick.
+ */
+struct RecoveryContext
+{
+  const PoseProvider*     pose      = nullptr;  ///< Bắt buộc cho họ velocity.
+  const CollisionChecker* collision = nullptr;  ///< Bắt buộc cho họ velocity.
+  const PlanProvider*     plan      = nullptr;  ///< Bắt buộc cho họ path.
+
+  robot_costmap_2d::Costmap2DROBOT* local_costmap  = nullptr;  ///< non-owning.
+  robot_costmap_2d::Costmap2DROBOT* global_costmap = nullptr;  ///< non-owning.
+};
+
+}  // namespace recovery_core
+
+#endif  // RECOVERY_CORE_RECOVERY_CONTEXT_H_

include/recovery_core/recovery_math.h

@@ -0,0 +1,91 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * recovery_core — helper hình học dùng chung cho plugin.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef RECOVERY_CORE_RECOVERY_MATH_H_
+#define RECOVERY_CORE_RECOVERY_MATH_H_
+
+#include <cmath>
+
+#include <robot_geometry_msgs/PoseStamped.h>
+#include <robot_geometry_msgs/Quaternion.h>
+
+namespace recovery_core
+{
+
+/// @brief Yaw [rad] của quaternion, trong (-pi, pi].
+inline double yawFromQuaternion(const robot_geometry_msgs::Quaternion& q)
+{
+  const double siny_cosp = 2.0 * (q.w * q.z + q.x * q.y);
+  const double cosy_cosp = 1.0 - 2.0 * (q.y * q.y + q.z * q.z);
+  return std::atan2(siny_cosp, cosy_cosp);
+}
+
+/// @brief Yaw [rad] của một pose.
+inline double yawOf(const robot_geometry_msgs::PoseStamped& pose)
+{
+  return yawFromQuaternion(pose.pose.orientation);
+}
+
+/// @brief Đưa góc về (-pi, pi].
+inline double normalizeAngle(double angle)
+{
+  while (angle > M_PI)
+  {
+    angle -= 2.0 * M_PI;
+  }
+  while (angle <= -M_PI)
+  {
+    angle += 2.0 * M_PI;
+  }
+  return angle;
+}
+
+/**
+ * @brief Quãng đường robot đã đi **dọc theo một hướng cho trước**, tính từ pose xuất phát.
+ *
+ * Đây là cách đo tiến độ đúng cho họ velocity: hình chiếu delta pose lên hướng ban đầu. Tích phân
+ * vận tốc *lệnh* thì bánh trượt hay bị chặn vẫn báo đi đủ quãng.
+ *
+ * @param current,start Hai pose trong cùng global frame.
+ * @param heading       Hướng chiếu [rad].
+ * @return [m] Dương nghĩa là đã đi theo chiều @p heading; âm là đi ngược lại.
+ */
+inline double projectOntoHeading(const robot_geometry_msgs::PoseStamped& current,
+                                 const robot_geometry_msgs::PoseStamped& start, double heading)
+{
+  const double dx = current.pose.position.x - start.pose.position.x;
+  const double dy = current.pose.position.y - start.pose.position.y;
+  return dx * std::cos(heading) + dy * std::sin(heading);
+}
+
+/**
+ * @brief Kẹp một lượng vận tốc theo trần gia tốc.
+ * @param target  Vận tốc mong muốn (độ lớn, >= 0).
+ * @param current Vận tốc đang phát (độ lớn, >= 0).
+ * @param acc_lim Trần gia tốc [đơn vị/s^2]; <= 0 nghĩa là không giới hạn.
+ * @param dt      [s] khoảng cách tới tick trước.
+ * @return Độ lớn vận tốc được phép phát ở tick này.
+ */
+inline double rampToward(double target, double current, double acc_lim, double dt)
+{
+  if (acc_lim <= 0.0 || dt <= 0.0)
+  {
+    return target;
+  }
+
+  const double max_step = acc_lim * dt;
+  if (target > current)
+  {
+    return std::min(target, current + max_step);
+  }
+  return std::max(target, current - max_step);
+}
+
+}  // namespace recovery_core
+
+#endif  // RECOVERY_CORE_RECOVERY_MATH_H_

include/recovery_core/recovery_registry.h

@@ -0,0 +1,110 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * recovery_core — nạp và giữ danh sách recovery behavior theo YAML.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef RECOVERY_CORE_RECOVERY_REGISTRY_H_
+#define RECOVERY_CORE_RECOVERY_REGISTRY_H_
+
+#include <cstddef>
+#include <functional>
+#include <string>
+#include <vector>
+
+#include <robot/node_handle.h>
+
+#include <recovery_core/recovery_behavior.h>
+#include <recovery_core/recovery_context.h>
+
+namespace recovery_core
+{
+
+/**
+ * @class RecoveryRegistry
+ * @brief Danh sách behavior **có thứ tự**, nạp từ YAML bằng Boost.DLL.
+ *
+ * Thứ tự chính là hành vi: caller thử behavior 0 trước, hỏng thì sang 1, hết danh sách thì abort.
+ * Vì thế đây là `vector` chứ không phải bảng tra theo tên.
+ *
+ * Cấu hình mong đợi (xem `pnkx_nav_core/config/recovery_behaviors_params.yaml`):
+ *
+ * @code{.yaml}
+ * recovery:
+ *   behaviors:
+ *     - {name: wait,   type: WaitRecovery}
+ *     - {name: rotate, type: RotateRecovery}
+ *   wait:
+ *     wait_duration: 3.0
+ *   rotate:
+ *     angular_speed: 0.4
+ *
+ * WaitRecovery:   { library_path: librecovery_core_wait_recovery }
+ * RotateRecovery: { library_path: librecovery_core_rotate_recovery }
+ * @endcode
+ *
+ * Khoá `library_path` là thứ hay quên nhất: thiếu nó thì plugin build xong vẫn báo "không tìm
+ * thấy". Registry vì thế báo lỗi nêu **đích danh** khoá bị thiếu.
+ */
+class RecoveryRegistry
+{
+public:
+  RecoveryRegistry() = default;
+  ~RecoveryRegistry();
+
+  RecoveryRegistry(const RecoveryRegistry&) = delete;
+  RecoveryRegistry& operator=(const RecoveryRegistry&) = delete;
+
+  /**
+   * @brief Nạp toàn bộ behavior khai trong `<ns>/behaviors`, theo đúng thứ tự khai báo.
+   * @param nh  NodeHandle gốc.
+   * @param ns  Namespace chứa danh sách (mặc định `recovery`).
+   * @param ctx Ngữ cảnh cấp cho mọi behavior khi `configure()`.
+   * @return false nếu có bất kỳ behavior nào không nạp được. Các behavior còn lại **vẫn** được giữ
+   *         (một đường phục hồi hỏng không nên xoá sạch các đường còn lại), và mỗi lỗi được log kèm
+   *         lý do cụ thể.
+   */
+  bool loadFromConfig(robot::NodeHandle& nh, const std::string& ns, const RecoveryContext& ctx);
+
+  /**
+   * @brief Thêm một behavior đã dựng sẵn vào cuối danh sách (test, hoặc behavior biên dịch thẳng
+   *        vào host). Caller tự chịu trách nhiệm đã `configure()` nó.
+   * @return false nếu con trỏ null.
+   */
+  bool registerBehavior(const RecoveryBehavior::RecoveryBehaviorPtr& behavior);
+
+  std::size_t size() const
+  {
+    return behaviors_.size();
+  }
+
+  /// @brief Behavior thứ @p index, hoặc nullptr nếu index sai.
+  RecoveryBehavior* at(std::size_t index) const;
+
+  /// @brief Tên behavior thứ @p index, hoặc chuỗi rỗng nếu index sai.
+  std::string nameAt(std::size_t index) const;
+
+  void clear();
+
+private:
+  /// Nạp một behavior. Trả false kèm log lý do nếu hỏng ở bất kỳ bước nào.
+  bool loadOne(const std::string& name, const std::string& type, robot::NodeHandle& nh,
+               const RecoveryContext& ctx, const std::string& ns);
+
+  std::vector<RecoveryBehavior::RecoveryBehaviorPtr> behaviors_;
+
+  /**
+   * Giữ factory của Boost.DLL sống đúng bằng vòng đời registry.
+   *
+   * Đây **không** phải biến thừa: factory nắm `shared_library` bên trong, thả nó ra là `.so` bị
+   * unload trong khi các behavior tạo từ nó vẫn còn sống — vtable trỏ vào vùng nhớ đã gỡ. Thứ tự
+   * huỷ trong `clear()` cũng vì lý do đó: behavior chết trước, factory chết sau.
+   */
+  std::vector<std::function<RecoveryBehavior::RecoveryBehaviorPtr()>> factories_;
+};
+
+}  // namespace recovery_core
+
+#endif  // RECOVERY_CORE_RECOVERY_REGISTRY_H_

include/recovery_core/recovery_types.h

@@ -2,7 +2,7 @@
  *
  * Software License Agreement (BSD License)
  *
- * recovery_core — kiểu hợp đồng output cho recovery behaviors.
+ * recovery_core — kiểu hợp đồng goal/output cho recovery behaviors.
  *
  * Author: DuongTD
  *********************************************************************/
@@ -10,16 +10,14 @@
 #define RECOVERY_CORE_RECOVERY_TYPES_H_
 
 #include <map>
+#include <optional>
 #include <string>
-#include <vector>
 
 #include <robot_geometry_msgs/PoseStamped.h>
 #include <robot_geometry_msgs/Twist.h>
 #include <robot_nav_msgs/Path.h>
 
-// Forward declare để không kéo header nặng vào contract type.
+#include <recovery_core/recovery_context.h>
-namespace tf3 { class BufferCore; }
-namespace robot_costmap_2d { class Costmap2DROBOT; }
 
 namespace recovery_core
 {
@@ -37,55 +35,47 @@ enum class RecoveryStatus
   kCancelled   ///< Bị caller huỷ giữa chừng (trả stop output).
 };
 
+const char* toString(RecoveryStatus status);
+
 /**
  * @enum RecoveryOutputType
- * @brief Loại output hành vi sinh ra ở kết quả hiện tại.
+ * @brief Họ output của behavior. Quyết định trường nào trong RecoveryResult đọc được.
- *        Quyết định trường nào trong RecoveryResult là hợp lệ để đọc.
+ *
+ * Đây **không** phải cờ tự do cho từng kết quả: mỗi plugin khai một lần qua
+ * `RecoveryBehavior::outputKind()`, và base cưỡng chế mọi kết quả trả về phải khớp. Trước kia
+ * `output_type` do plugin tự đặt mỗi tick nên caller không route theo nó được.
  */
 enum class RecoveryOutputType
 {
-  kNone,      ///< Không output (vd: clear costmap) — chỉ đọc status.
+  kNone,      ///< Không output (vd: clear costmap, wait) — chỉ đọc status.
-  kVelocity,  ///< Output là command (Twist) — họ rotation/backup.
+  kVelocity,  ///< Output là Twist — họ rotate/backup.
-  kPath       ///< Output là path — họ regen path.
+  kPath       ///< Output là Path — họ sinh lại đường đi.
 };
 
-/**
+const char* toString(RecoveryOutputType kind);
- * @struct RecoveryContext
- * @brief Ngữ cảnh môi trường cấp cho behavior một lần qua configure().
- *
- * Gói các con trỏ KHÔNG sở hữu (tf/costmap/global_path) thay cho danh sách tham số dài của
- * initialize() cũ. Thêm field mới ở đây không phá vỡ chữ ký configure() của mọi plugin.
- */
-struct RecoveryContext
-{
-  tf3::BufferCore* tf = nullptr;                                    ///< Transform buffer.
-  std::vector<robot_geometry_msgs::PoseStamped>* global_path = nullptr;  ///< Plan hiện tại.
-  robot_costmap_2d::Costmap2DROBOT* global_costmap = nullptr;       ///< Costmap toàn cục.
-  robot_costmap_2d::Costmap2DROBOT* local_costmap = nullptr;        ///< Costmap cục bộ.
-};
 
 /**
  * @struct RecoveryGoal
- * @brief Mục tiêu RUNTIME cho một lượt recovery — caller truyền vào start(goal).
+ * @brief Mục tiêu RUNTIME cho một lượt recovery — caller truyền vào `start(goal, now)`.
  *
- * Đây là điểm cốt lõi giúp behavior "thông minh" hơn: cùng một plugin, mỗi lượt caller có thể
+ * Cùng một plugin phục vụ nhiều yêu cầu khác nhau mà không phải đổi config.
- * yêu cầu góc quay / khoảng lùi khác nhau, thay vì cố định trong config lúc configure().
  *
- * Quy ước dùng default: trường mang giá trị 0 (hoặc has_target_pose == false) nghĩa là "dùng
+ * `std::optional` chứ **không** dùng quy ước "0 nghĩa là dùng default": `angle = 0` là một yêu cầu
- * default đã cấu hình của plugin". Đơn vị: angle [rad], distance [m].
+ * hợp lệ ("đừng quay") và phải phân biệt được với "caller không đặt". Bản cũ dùng sentinel 0 nên
+ * một góc tính ra ~0 từ hình học bị âm thầm thay bằng π/2 — robot quay 90° mà không log gì.
  */
 struct RecoveryGoal
 {
-  double angle = 0.0;     ///< rad — góc quay đích. 0 = dùng default plugin.
+  RecoveryTrigger trigger = RecoveryTrigger::kUnspecified;  ///< Vì sao vào recovery.
-  double velocity = 0.0;  ///< m/s — tốc độ di chuyển. 0 = dùng default plugin.
-  double distance = 0.0;  ///< m   — khoảng lùi đích. 0 = dùng default plugin.
 
-  robot_geometry_msgs::PoseStamped target_pose;  ///< Pose đích (họ path/detour), tuỳ chọn.
+  std::optional<double> angle;     ///< [rad] có dấu, + là ngược chiều kim đồng hồ.
-  bool has_target_pose = false;                   ///< true nếu target_pose hợp lệ.
+  std::optional<double> distance;  ///< [m] > 0, độ dài quãng đi (backup: quãng lùi).
 
-  std::map<std::string, double> params;  ///< Override mở rộng theo từng plugin (vd tốc độ).
+  std::optional<robot_geometry_msgs::PoseStamped> target_pose;  ///< Pose đích (họ path).
 
-  /// @brief Đọc override double trong params, trả default nếu không có.
+  std::map<std::string, double> params;  ///< Override mở rộng theo từng plugin.
+
+  /// @brief Đọc override double trong params, trả @p fallback nếu không có.
   double param(const std::string& key, double fallback) const
   {
     const auto it = params.find(key);
@@ -95,45 +85,61 @@ struct RecoveryGoal
 
 /**
  * @struct RecoveryResult
- * @brief Kết quả hợp nhất + rich feedback cho cả 3 họ recovery.
+ * @brief Kết quả một tick, hợp nhất cho cả ba họ + feedback cho caller giám sát.
  *
- * Bất biến output: chỉ đọc trường khớp với @ref output_type.
+ * Bất biến output được **base cưỡng chế**, không chỉ ghi trong comment: `output_type` luôn thuộc
- *  - kNone     : bỏ qua command/path.
+ * `{outputKind(), kNone}`. Đọc dữ liệu qua @ref velocity / @ref pathOut để không thể đọc nhầm
- *  - kVelocity : dùng command; path để mặc định.
+ * trường của họ khác.
- *  - kPath     : dùng path; command để mặc định.
  *
- * Feedback (progress/remaining/elapsed/message) luôn hợp lệ để caller giám sát/log, độc lập với
+ * Feedback (`progress`/`remaining`/`elapsed`/`message`) luôn hợp lệ, độc lập với `output_type`.
- * output_type. progress trong [0,1]; remaining theo đơn vị của goal (rad hoặc m).
+ * `progress` trong [0,1]; `remaining` theo đơn vị của goal (rad hoặc m); `elapsed` [s] do base ghi.
  */
 struct RecoveryResult
 {
   RecoveryStatus status = RecoveryStatus::kRunning;
   RecoveryOutputType output_type = RecoveryOutputType::kNone;
 
-  robot_geometry_msgs::Twist command;  ///< Hợp lệ khi output_type == kVelocity.
+  robot_geometry_msgs::Twist command;  ///< [m/s],[rad/s]. Chỉ hợp lệ khi output_type == kVelocity.
-  robot_nav_msgs::Path path;           ///< Hợp lệ khi output_type == kPath.
+  robot_nav_msgs::Path path;           ///< Chỉ hợp lệ khi output_type == kPath.
 
   double progress = 0.0;   ///< [0,1] tiến độ tới goal.
   double remaining = 0.0;  ///< Phần còn lại tới goal (rad hoặc m). >= 0.
-  double elapsed = 0.0;    ///< s — thời gian trôi từ start().
+  double elapsed = 0.0;    ///< [s] thời gian trôi từ start(). Base ghi, plugin không phải đặt.
-  std::string message;     ///< Mô tả người-đọc-được (vd "rotated 1.20/1.57 rad").
+  std::string message;     ///< Mô tả người-đọc-được, dùng để log khi state đổi.
+
+  /// @brief Twist nếu kết quả này thực sự là output vận tốc, ngược lại nullptr.
+  const robot_geometry_msgs::Twist* velocity() const
+  {
+    return output_type == RecoveryOutputType::kVelocity ? &command : nullptr;
+  }
+
+  /// @brief Path nếu kết quả này thực sự là output path, ngược lại nullptr.
+  const robot_nav_msgs::Path* pathOut() const
+  {
+    return output_type == RecoveryOutputType::kPath ? &path : nullptr;
+  }
+
+  /// @brief true nếu lượt recovery đã kết thúc (không cần tick thêm).
+  bool terminal() const
+  {
+    return status != RecoveryStatus::kRunning;
+  }
 
   /// @brief Đang chạy, không output.
   static RecoveryResult Running();
   /// @brief Thành công, không output.
   static RecoveryResult Succeeded();
-  /// @brief Thất bại, không output (caller nên dừng an toàn).
+  /// @brief Thất bại, không output (caller dừng an toàn).
   static RecoveryResult Failed();
-  /// @brief Bị huỷ, không output (caller nên dừng an toàn).
+  /// @brief Bị huỷ, không output (caller dừng an toàn).
   static RecoveryResult Cancelled();
-  /// @brief Output vận tốc kèm status (kRunning/kSucceeded/kFailed/kCancelled).
+  /// @brief Output vận tốc kèm status.
   static RecoveryResult Velocity(const robot_geometry_msgs::Twist& command,
                                  RecoveryStatus status);
   /// @brief Output path kèm status.
-  static RecoveryResult PathOut(const robot_nav_msgs::Path& path,
+  static RecoveryResult PathOut(const robot_nav_msgs::Path& path, RecoveryStatus status);
-                                RecoveryStatus status);
 
-  /// @brief Gắn thêm feedback (fluent) — trả về chính nó để chain.
+  /// @brief Gắn thêm feedback (fluent). progress bị kẹp về [0,1], remaining về >= 0.
   RecoveryResult& withProgress(double progress_value, double remaining_value);
   /// @brief Gắn message (fluent).
   RecoveryResult& withMessage(std::string text);

package.xml

@@ -2,15 +2,17 @@
   <name>recovery_core</name>
   <version>0.1.0</version>
   <description>
-    recovery_core định nghĩa interface (base class) cho các hành vi recovery của navigation
+    Interface tick-based cho recovery behavior, kèm bộ behavior mặc định.
-    stack ROS-like T800. Mô phỏng robot_nav_core::RecoveryBehavior (giữ chữ ký initialize với
-    tf + costmap), nhưng tổng quát hoá output để bao 3 họ recovery: trả về path
-    (robot_nav_msgs::Path), không trả output (clear costmap), và trả về vận tốc
-    (robot_geometry_msgs::Twist) theo từng control cycle.
 
-    Không chạy roscpp/ROS master thật; dùng lớp ROS-like robot_* (robot_costmap_2d, tf3,
+    Vòng đời hướng-goal: configure(name, ctx, nh) -> start(goal, now) -> lặp update(now) ->
-    robot_cpp, robot_time). Core library không publish trực tiếp; các behavior mẫu build thành
+    [cancel()]. Mỗi behavior khai một họ output qua outputKind(): không output (wait, clear
-    plugin Boost.DLL riêng để adapter/caller nạp và tiêu thụ RecoveryResult.
+    costmap), vận tốc theo từng control cycle (rotate, back up), hoặc path. Base giữ toàn bộ bất
+    biến — guard vòng đời, cổng bắt buộc theo họ, đo elapsed, ép timeout, và cưỡng chế output_type
+    khớp họ đã khai.
+
+    Không chạy roscpp/ROS master; dùng lớp ROS-like robot_* (robot_costmap_2d, tf3, robot_cpp,
+    robot_time). Behavior mặc định build thành plugin Boost.DLL riêng, nạp qua RecoveryRegistry
+    theo khoá library_path trong YAML.
   </description>
   <author>T800 Robotics</author>
   <maintainer email="tdd@gmail.com">T800 Robotics</maintainer>
@@ -39,4 +41,11 @@
   <build_depend>robot_xmlrpcpp</build_depend>
   <run_depend>robot_xmlrpcpp</run_depend>
 
+  <build_depend>yaml-cpp</build_depend>
+  <run_depend>yaml-cpp</run_depend>
+
+  <!-- Chỉ dùng cho test: fake clock/costmap/pose/collision. Cố ý KHÔNG có run_depend và không nằm
+       trong catkin_package(CATKIN_DEPENDS) — consumer của recovery_core không phải kéo theo nó. -->
+  <build_depend>nav_test_harness</build_depend>
+
 </package>

plugins/back_up_recovery.cpp

@@ -2,12 +2,13 @@
  *
  * Software License Agreement (BSD License)
  *
- * recovery_core — per-cycle backup recovery plugin (goal-driven).
+ * recovery_core — lùi thẳng một quãng, đo bằng pose thật và có kiểm va chạm.
  *
  * Author: DuongTD
  *********************************************************************/
 
 #include <recovery_core/recovery_behavior.h>
+#include <recovery_core/recovery_math.h>
 
 #include <algorithm>
 #include <cmath>
@@ -20,18 +21,30 @@ namespace recovery_plugins
 {
 namespace
 {
-constexpr double kDefaultBackupDistance = 0.5;  // m.
+constexpr double kDefaultBackupDistance = 0.3;      // [m]
-constexpr double kDefaultLinearSpeed = 0.1;     // m/s.
+constexpr double kDefaultBackupDistanceMax = 1.0;   // [m] trần cứng cho quãng lùi
-constexpr double kDefaultControlPeriod = 0.1;   // s per update tick.
+constexpr double kDefaultLinearSpeed = 0.1;         // [m/s] độ lớn
+constexpr double kDefaultAccLimX = 0.3;             // [m/s^2]
+constexpr double kMaxLinearSpeed = 1.0;             // [m/s] trần vệ sinh cho param sai
+constexpr double kGoalTolerance = 1e-3;             // [m]
 }  // namespace
 
 /**
  * @class BackUpRecovery
- * @brief Lùi thẳng tới KHOẢNG ĐÍCH do caller yêu cầu ở start(goal).
+ * @brief Lùi thẳng theo hướng ban đầu tới khi đủ quãng yêu cầu.
  *
- * goal.distance (m, > 0) là khoảng lùi lượt này; 0 nghĩa là dùng default configured. Tốc độ
+ * Đây là behavior **nguy hiểm nhất** trong bộ default: lùi là hướng robot thường không có sensor.
- * tuyến tính mặc định đọc từ param, có thể override qua goal.params["linear_speed"]. Mỗi
+ * Vì vậy nó xếp cuối danh sách, và có ba lớp bảo vệ:
- * update() trả Twist.linear.x < 0 kèm progress/remaining tới khi đủ khoảng -> kSucceeded.
+ *
+ *  1. **Tiến độ đo bằng pose thật** — hình chiếu delta pose lên hướng xuất phát, không tích phân
+ *     vận tốc lệnh. Bản trước nhân vận tốc lệnh với `control_period` lấy từ config, nên control
+ *     loop chạy chậm gấp đôi là robot lùi gấp đôi quãng yêu cầu, còn bánh trượt thì vẫn báo xong.
+ *  2. **Kiểm va chạm mỗi tick** trên pose dự đoán ở cuối chu kỳ tới, trước khi phát lệnh; và một
+ *     lần nữa lúc `onStart()` để không bao giờ khởi động vào chỗ đã bị chặn.
+ *  3. **Mất pose là dừng** — `PoseProvider` trả false thì trả `kFailed` + Twist 0.
+ *
+ * Quãng lùi: `goal.distance` cho lượt này, ngược lại param `backup_distance`; cả hai bị kẹp bởi
+ * `backup_distance_max`.
  */
 class BackUpRecovery final : public recovery_core::RecoveryBehavior
 {
@@ -43,101 +56,188 @@ public:
     return std::make_shared<BackUpRecovery>();
   }
 
+  recovery_core::RecoveryOutputType outputKind() const override
+  {
+    return recovery_core::RecoveryOutputType::kVelocity;
+  }
+
 protected:
-  void onConfigure() override
+  bool onConfigure(robot::NodeHandle& nh) override
   {
-    robot::NodeHandle private_nh("~/" + name_);
+    nh.param("backup_distance", default_backup_distance_, kDefaultBackupDistance);
-    private_nh.param("backup_distance", default_backup_distance_, kDefaultBackupDistance);
+    nh.param("backup_distance_max", backup_distance_max_, kDefaultBackupDistanceMax);
-    private_nh.param("linear_speed", default_linear_speed_, kDefaultLinearSpeed);
+    nh.param("linear_speed", default_linear_speed_, kDefaultLinearSpeed);
-    private_nh.param("control_period", control_period_, kDefaultControlPeriod);
+    nh.param("acc_lim_x", acc_lim_x_, kDefaultAccLimX);
-    private_nh.param("require_costmap", require_costmap_, false);
 
-    if (!std::isfinite(default_backup_distance_) || default_backup_distance_ <= 0.0)
+    if (!std::isfinite(backup_distance_max_) || backup_distance_max_ <= 0.0)
     {
-      robot::log_warning("[recovery_core] Invalid backup_distance for '%s'; using 0.5 m.",
+      robot::log_warning("[recovery_core] '%s': backup_distance_max=%.3f m is invalid; using %.3f "
-                         name_.c_str());
+                         "m.", name().c_str(), backup_distance_max_,
-      default_backup_distance_ = kDefaultBackupDistance;
+                         kDefaultBackupDistanceMax);
-    }
+      backup_distance_max_ = kDefaultBackupDistanceMax;
-    if (!std::isfinite(default_linear_speed_) || default_linear_speed_ <= 0.0)
-    {
-      robot::log_warning("[recovery_core] Invalid linear_speed for '%s'; using 0.1 m/s.",
-                         name_.c_str());
-      default_linear_speed_ = kDefaultLinearSpeed;
-    }
-    if (!std::isfinite(control_period_) || control_period_ <= 0.0)
-    {
-      robot::log_warning("[recovery_core] Invalid control_period for '%s'; using 0.1 s.",
-                         name_.c_str());
-      control_period_ = kDefaultControlPeriod;
-    }
     }
 
-  recovery_core::RecoveryResult onStart(const recovery_core::RecoveryGoal& goal) override
+    default_backup_distance_ = clampDistance(default_backup_distance_, kDefaultBackupDistance);
+    default_linear_speed_ = clampSpeed(default_linear_speed_, kDefaultLinearSpeed);
+
+    if (!std::isfinite(acc_lim_x_) || acc_lim_x_ < 0.0)
     {
-    // Costmap là bắt buộc? fail sớm trước khi xuất vận tốc lùi.
+      robot::log_warning("[recovery_core] '%s': acc_lim_x=%.3f m/s^2 is invalid; using %.3f.",
-    if (require_costmap_ && ctx().local_costmap == nullptr)
+                         name().c_str(), acc_lim_x_, kDefaultAccLimX);
-    {
+      acc_lim_x_ = kDefaultAccLimX;
-      return recovery_core::RecoveryResult::Failed().withMessage("backup requires local costmap");
     }
 
-    backup_distance_ = (std::isfinite(goal.distance) && goal.distance > 0.0)
+    return true;
-                           ? goal.distance
-                           : default_backup_distance_;
-
-    linear_speed_ = std::abs(goal.param("linear_speed", default_linear_speed_));
-    if (!std::isfinite(linear_speed_) || linear_speed_ <= 0.0)
-    {
-      linear_speed_ = default_linear_speed_;
   }
 
-    traveled_distance_ = 0.0;
+  bool onStart(const recovery_core::RecoveryGoal& goal) override
-    return recovery_core::RecoveryResult::Velocity(robot_geometry_msgs::Twist(),
+  {
-                                                   recovery_core::RecoveryStatus::kRunning)
+    // Base đã bảo đảm ctx().pose và ctx().collision khác null cho họ velocity.
-        .withProgress(0.0, backup_distance_)
+    if (!ctx().pose->getRobotPose(start_pose_))
-        .withMessage("backup start");
+    {
+      robot::log_warning("[recovery_core] '%s': could not get a pose at start-up (TF stale?).",
+                         name().c_str());
+      return false;
     }
 
-  recovery_core::RecoveryResult onUpdate() override
+    start_yaw_ = recovery_core::yawOf(start_pose_);
+
+    backup_distance_ = clampDistance(goal.distance.value_or(default_backup_distance_),
+                                     default_backup_distance_);
+    linear_speed_ = clampSpeed(std::abs(goal.param("linear_speed", default_linear_speed_)),
+                               default_linear_speed_);
+
+    current_speed_ = 0.0;
+
+    // Kiểm ngay tại chỗ: nếu vị trí lùi đầu tiên đã bị chặn thì từ chối khởi động, để state machine
+    // chuyển sang behavior kế tiếp thay vì phát một lệnh lùi rồi mới hỏng.
+    if (blockedAhead(start_pose_, kProbeDistance))
     {
-    if (traveled_distance_ >= backup_distance_)
+      robot::log_warning("[recovery_core] '%s': the space behind is already blocked, refusing to "
-    {
+                         "back up.",
-      return succeeded();
+                         name().c_str());
+      return false;
     }
 
-    robot_geometry_msgs::Twist command;
+    return true;
-    command.linear.x = -std::abs(linear_speed_);
-    traveled_distance_ = std::min(
-        backup_distance_, traveled_distance_ + std::abs(command.linear.x) * control_period_);
-
-    if (traveled_distance_ >= backup_distance_)
-    {
-      return succeeded();
   }
 
-    return recovery_core::RecoveryResult::Velocity(command,
+  recovery_core::RecoveryResult onUpdate(const robot::Time& /*now*/, double dt) override
-                                                   recovery_core::RecoveryStatus::kRunning)
+  {
-        .withProgress(traveled_distance_ / backup_distance_,
+    robot_geometry_msgs::PoseStamped pose;
-                      backup_distance_ - traveled_distance_)
+    if (!ctx().pose->getRobotPose(pose))
-        .withMessage("backing up");
+    {
+      current_speed_ = 0.0;
+      return stopResult(recovery_core::RecoveryStatus::kFailed)
+          .withMessage("robot pose lost (TF stale?) — stopping the back-up");
     }
 
-private:
+    // Tiến độ = phần đi ngược hướng xuất phát. Dấu âm của hình chiếu chính là quãng đã lùi.
-  recovery_core::RecoveryResult succeeded()
+    const double traveled = -recovery_core::projectOntoHeading(pose, start_pose_, start_yaw_);
+    const double remaining = backup_distance_ - traveled;
+
+    if (remaining <= kGoalTolerance)
     {
-    return recovery_core::RecoveryResult::Velocity(robot_geometry_msgs::Twist(),
+      current_speed_ = 0.0;
-                                                   recovery_core::RecoveryStatus::kSucceeded)
+      return stopResult(recovery_core::RecoveryStatus::kSucceeded)
           .withProgress(1.0, 0.0)
           .withMessage("backup complete");
     }
 
-  double default_backup_distance_ = kDefaultBackupDistance;
+    // Vận tốc của tick này, đã ramp theo trần gia tốc, và không vượt quãng còn lại nếu dt cho phép.
-  double default_linear_speed_ = kDefaultLinearSpeed;
+    double speed = recovery_core::rampToward(linear_speed_, current_speed_, acc_lim_x_, dt);
-  double control_period_ = kDefaultControlPeriod;
+    if (dt > 0.0)
-  bool require_costmap_ = false;
+    {
+      speed = std::min(speed, remaining / dt);
+    }
+    speed = std::max(speed, 0.0);
 
-  double backup_distance_ = kDefaultBackupDistance;
+    // Pose dự đoán ở CUỐI chu kỳ tới — kiểm trước khi phát lệnh, không phải sau.
-  double linear_speed_ = kDefaultLinearSpeed;
+    const double probe = std::max(speed * std::max(dt, kMinProbeDt), kProbeDistance);
-  double traveled_distance_ = 0.0;
+    if (blockedAhead(pose, probe))
+    {
+      current_speed_ = 0.0;
+      return stopResult(recovery_core::RecoveryStatus::kFailed)
+          .withMessage("obstacle behind — cancelling the back-up");
+    }
+
+    current_speed_ = speed;
+
+    robot_geometry_msgs::Twist command;
+    command.linear.x = -speed;  // [m/s], âm = lùi
+
+    return recovery_core::RecoveryResult::Velocity(command,
+                                                   recovery_core::RecoveryStatus::kRunning)
+        .withProgress(traveled / backup_distance_, remaining)
+        .withMessage("backing up");
+  }
+
+  recovery_core::RecoveryResult onCancel() override
+  {
+    current_speed_ = 0.0;
+    return stopResult(recovery_core::RecoveryStatus::kCancelled).withMessage("backup cancelled");
+  }
+
+private:
+  /// Khoảng dò tối thiểu [m] — luôn nhìn trước ít nhất một ô costmap kể cả khi dt rất nhỏ.
+  static constexpr double kProbeDistance = 0.05;
+  /// dt tối thiểu [s] dùng khi dự đoán, để tick đầu (dt = 0) vẫn dò về phía trước.
+  static constexpr double kMinProbeDt = 0.1;
+
+  /// @return true nếu đặt robot lùi thêm @p distance từ @p from là va chạm.
+  bool blockedAhead(const robot_geometry_msgs::PoseStamped& from, double distance) const
+  {
+    const double next_x = from.pose.position.x - std::cos(start_yaw_) * distance;
+    const double next_y = from.pose.position.y - std::sin(start_yaw_) * distance;
+    return ctx().collision->footprintCost(next_x, next_y, start_yaw_) < 0.0;
+  }
+
+  double clampDistance(double value, double fallback) const
+  {
+    if (!std::isfinite(value) || value <= 0.0)
+    {
+      robot::log_warning("[recovery_core] '%s': backup_distance=%.3f m is invalid; using %.3f m.",
+                         name().c_str(), value, fallback);
+      return std::min(fallback, backup_distance_max_);
+    }
+    if (value > backup_distance_max_)
+    {
+      robot::log_warning("[recovery_core] '%s': backup_distance=%.3f m > limit %.3f m; clamped.",
+                         name().c_str(), value, backup_distance_max_);
+      return backup_distance_max_;
+    }
+    return value;
+  }
+
+  double clampSpeed(double value, double fallback) const
+  {
+    if (!std::isfinite(value) || value <= 0.0)
+    {
+      robot::log_warning("[recovery_core] '%s': linear_speed=%.3f m/s is invalid; using %.3f m/s.",
+                         name().c_str(), value, fallback);
+      return fallback;
+    }
+    if (value > kMaxLinearSpeed)
+    {
+      robot::log_warning("[recovery_core] '%s': linear_speed=%.3f m/s > limit %.3f m/s; clamped.",
+                         name().c_str(), value, kMaxLinearSpeed);
+      return kMaxLinearSpeed;
+    }
+    return value;
+  }
+
+  // Config
+  double default_backup_distance_ = kDefaultBackupDistance;    ///< [m]
+  double backup_distance_max_ = kDefaultBackupDistanceMax;     ///< [m]
+  double default_linear_speed_ = kDefaultLinearSpeed;          ///< [m/s]
+  double acc_lim_x_ = kDefaultAccLimX;                         ///< [m/s^2]
+
+  // Trạng thái lượt hiện tại
+  robot_geometry_msgs::PoseStamped start_pose_;
+  double start_yaw_ = 0.0;                                     ///< [rad]
+  double backup_distance_ = kDefaultBackupDistance;            ///< [m]
+  double linear_speed_ = kDefaultLinearSpeed;                  ///< [m/s]
+  double current_speed_ = 0.0;                                 ///< [m/s] đang phát, để ramp
 };
 
 }  // namespace recovery_plugins

plugins/clear_costmap_recovery.cpp

@@ -2,7 +2,7 @@
  *
  * Software License Agreement (BSD License)
  *
- * recovery_core — no-output clear costmap plugin.
+ * recovery_core — xoá vật cản đã tích trong costmap. Một tick, không output.
  *
  * Author: DuongTD
  *********************************************************************/
@@ -19,12 +19,16 @@
 #include <boost/pointer_cast.hpp>
 #include <boost/thread/locks.hpp>
 #include <robot/robot.h>
+#include <robot_costmap_2d/costmap_2d_robot.h>
 #include <robot_costmap_2d/costmap_layer.h>
 
 namespace recovery_plugins
 {
 namespace
 {
+constexpr double kDefaultResetDistance = 3.0;  // [m]
+constexpr double kMaxResetDistance = 100.0;    // [m] trần vệ sinh cho param sai
+
 std::string leafName(std::string name)
 {
   const std::string::size_type slash = name.rfind('/');
@@ -34,13 +38,23 @@ std::string leafName(std::string name)
   }
   return name;
 }
-
-bool isValidResetDistance(double value)
-{
-  return std::isfinite(value) && value > 0.0;
-}
 }  // namespace
 
+/**
+ * @class ClearCostmapRecovery
+ * @brief Xoá vùng vật cản đã tích trong các layer được chỉ định.
+ *
+ * Dùng **hai instance** trong bộ default:
+ *  - `conservative_reset` (`invert_area_to_clear: false`) xoá vùng gần robot;
+ *  - `aggressive_reset`  (`invert_area_to_clear: true`) xoá mọi thứ **ngoài** vùng đó.
+ *
+ * Không phát output, hoàn tất trong một tick.
+ *
+ * @note Cố ý **không** gọi `Costmap2DROBOT::updateMap()`. Hàm đó giữ mutex master rồi chạy toàn bộ
+ *       chuỗi layer `updateBounds`/`updateCosts` — cỡ chục tới trăm ms — trong khi behavior này
+ *       chạy trên thread phát cmd_vel ở 30 Hz. Costmap tự update ở chu kỳ riêng của nó ngay sau
+ *       đó; ép update tại đây chỉ để đổi lấy một chu kỳ control bị lỡ.
+ */
 class ClearCostmapRecovery final : public recovery_core::RecoveryBehavior
 {
 public:
@@ -51,82 +65,107 @@ public:
     return std::make_shared<ClearCostmapRecovery>();
   }
 
-protected:
+  recovery_core::RecoveryOutputType outputKind() const override
-  void onConfigure() override
   {
-    robot::NodeHandle private_nh("~/" + name_);
+    return recovery_core::RecoveryOutputType::kNone;
-    private_nh.param("reset_distance", reset_distance_, 3.0);
+  }
-    private_nh.param("invert_area_to_clear", invert_area_to_clear_, false);
-    private_nh.param("force_updating", force_updating_, false);
-    private_nh.param("affected_maps", affected_maps_, std::string("both"));
 
-    if (!isValidResetDistance(reset_distance_))
+protected:
+  bool onConfigure(robot::NodeHandle& nh) override
   {
-      robot::log_warning("[recovery_core] Invalid reset_distance for '%s'; using 3.0 m.",
+    nh.param("reset_distance", reset_distance_, kDefaultResetDistance);
-                         name_.c_str());
+    nh.param("invert_area_to_clear", invert_area_to_clear_, false);
-      reset_distance_ = 3.0;
+    nh.param("affected_maps", affected_maps_, std::string("both"));
+
+    if (!std::isfinite(reset_distance_) || reset_distance_ <= 0.0 ||
+        reset_distance_ > kMaxResetDistance)
+    {
+      robot::log_warning("[recovery_core] '%s': reset_distance=%.3f m outside (0, %.0f]; using "
+                         "%.3f m.", name().c_str(), reset_distance_, kMaxResetDistance,
+                         kDefaultResetDistance);
+      reset_distance_ = kDefaultResetDistance;
     }
 
     if (affected_maps_ != "local" && affected_maps_ != "global" && affected_maps_ != "both")
     {
-      robot::log_warning("[recovery_core] Invalid affected_maps '%s' for '%s'; using 'both'.",
+      robot::log_warning("[recovery_core] '%s': affected_maps='%s' is invalid; using 'both'.",
-                         affected_maps_.c_str(), name_.c_str());
+                         name().c_str(), affected_maps_.c_str());
       affected_maps_ = "both";
     }
 
-    std::vector<std::string> clearable_layers_default;
+    std::vector<std::string> clearable_layers_default{"obstacles"};
-    clearable_layers_default.emplace_back("obstacles");
     std::vector<std::string> clearable_layers;
-    private_nh.param("layer_names", clearable_layers, clearable_layers_default);
+    nh.param("layer_names", clearable_layers, clearable_layers_default);
     clearable_layers_.insert(clearable_layers.begin(), clearable_layers.end());
-  }
 
-  recovery_core::RecoveryResult onStart(const recovery_core::RecoveryGoal& /*goal*/) override
+    if (clearable_layers_.empty())
     {
-    // One-shot: công việc thực hiện ở onUpdate() lần đầu.
+      robot::log_error("[recovery_core] '%s': layer_names is empty — this behavior will not clear "
-    return recovery_core::RecoveryResult::Running().withMessage("clear costmap start");
+                       "anything.",
+                       name().c_str());
+      return false;
     }
 
-  recovery_core::RecoveryResult onUpdate() override
+    const bool needs_global = affected_maps_ == "global" || affected_maps_ == "both";
+    const bool needs_local = affected_maps_ == "local" || affected_maps_ == "both";
+
+    if (needs_global && ctx().global_costmap == nullptr)
+    {
+      robot::log_error("[recovery_core] '%s': affected_maps='%s' but the global costmap is "
+                       "missing.",
+                       name().c_str(), affected_maps_.c_str());
+      return false;
+    }
+    if (needs_local && ctx().local_costmap == nullptr)
+    {
+      robot::log_error("[recovery_core] '%s': affected_maps='%s' but the local costmap is missing.",
+                       name().c_str(), affected_maps_.c_str());
+      return false;
+    }
+
+    return true;
+  }
+
+  bool onStart(const recovery_core::RecoveryGoal& /*goal*/) override
+  {
+    // One-shot: công việc thực hiện ở tick đầu tiên, giữ start() không có tác dụng phụ.
+    return true;
+  }
+
+  recovery_core::RecoveryResult onUpdate(const robot::Time& /*now*/, double /*dt*/) override
   {
     bool ok = true;
+
     if (affected_maps_ == "global" || affected_maps_ == "both")
     {
-      ok = clear(ctx().global_costmap) && ok;
+      ok = clear(ctx().global_costmap, "global") && ok;
-      if (ok && force_updating_ && ctx().global_costmap != nullptr)
-      {
-        ctx().global_costmap->updateMap();
-      }
     }
 
     if (affected_maps_ == "local" || affected_maps_ == "both")
     {
-      ok = clear(ctx().local_costmap) && ok;
+      ok = clear(ctx().local_costmap, "local") && ok;
-      if (ok && force_updating_ && ctx().local_costmap != nullptr)
-      {
-        ctx().local_costmap->updateMap();
-      }
     }
 
-    return ok ? recovery_core::RecoveryResult::Succeeded().withMessage("clear costmap complete")
+    return ok ? recovery_core::RecoveryResult::Succeeded()
+                    .withProgress(1.0, 0.0)
+                    .withMessage("clear costmap complete")
               : recovery_core::RecoveryResult::Failed().withMessage("clear costmap failed");
   }
 
 private:
-  bool clear(robot_costmap_2d::Costmap2DROBOT* costmap)
+  bool clear(robot_costmap_2d::Costmap2DROBOT* costmap, const char* which)
   {
     if (costmap == nullptr || costmap->getLayeredCostmap() == nullptr)
     {
-      robot::log_error("[recovery_core] ClearCostmapRecovery '%s' missing costmap.",
+      robot::log_error("[recovery_core] '%s': %s costmap is missing.", name().c_str(), which);
-                       name_.c_str());
       return false;
     }
 
     robot_geometry_msgs::PoseStamped pose;
     if (!costmap->getRobotPose(pose))
     {
-      robot::log_error("[recovery_core] ClearCostmapRecovery '%s' cannot get robot pose.",
+      robot::log_error("[recovery_core] '%s': could not get the robot pose on the %s costmap.",
-                       name_.c_str());
+                       name().c_str(), which);
       return false;
     }
 
@@ -134,12 +173,14 @@ private:
         costmap->getLayeredCostmap()->getPlugins();
     if (plugins == nullptr)
     {
-      robot::log_error("[recovery_core] ClearCostmapRecovery '%s' missing costmap layers.",
+      robot::log_error("[recovery_core] '%s': %s costmap has no layer.", name().c_str(),
-                       name_.c_str());
+                       which);
       return false;
     }
 
     bool touched_layer = false;
+    std::string available;
+
     for (const boost::shared_ptr<robot_costmap_2d::Layer>& plugin : *plugins)
     {
       if (!plugin)
@@ -147,16 +188,23 @@ private:
         continue;
       }
 
-      const std::string name = leafName(plugin->getName());
+      const std::string layer_name = leafName(plugin->getName());
-      if (clearable_layers_.count(name) == 0)
+
+      if (!available.empty())
+      {
+        available += ", ";
+      }
+      available += layer_name;
+
+      if (clearable_layers_.count(layer_name) == 0)
       {
         continue;
       }
 
       if (dynamic_cast<robot_costmap_2d::CostmapLayer*>(plugin.get()) == nullptr)
       {
-        robot::log_warning("[recovery_core] Layer '%s' is not a CostmapLayer; skipped.",
+        robot::log_warning("[recovery_core] '%s': layer '%s' is not a CostmapLayer; skipped.",
-                           name.c_str());
+                           name().c_str(), layer_name.c_str());
         continue;
       }
 
@@ -165,13 +213,22 @@ private:
       touched_layer = true;
     }
 
-    return touched_layer;
+    if (!touched_layer)
+    {
+      // Nguyên nhân phổ biến nhất của "recovery này không làm gì" là sai tên layer trong config.
+      // Bản trước trả kFailed lặng lẽ, nên không có cách nào biết vì sao.
+      robot::log_error("[recovery_core] '%s': no layer of the %s costmap matches layer_names. "
+                       "Layers present: [%s].", name().c_str(), which, available.c_str());
+      return false;
     }
 
-  void clearMap(const boost::shared_ptr<robot_costmap_2d::CostmapLayer>& costmap,
+    return true;
-                double pose_x, double pose_y)
+  }
+
+  void clearMap(const boost::shared_ptr<robot_costmap_2d::CostmapLayer>& layer, double pose_x,
+                double pose_y)
   {
-    boost::unique_lock<robot_costmap_2d::Costmap2D::mutex_t> lock(*(costmap->getMutex()));
+    boost::unique_lock<robot_costmap_2d::Costmap2D::mutex_t> lock(*(layer->getMutex()));
 
     const double start_point_x = pose_x - reset_distance_ / 2.0;
     const double start_point_y = pose_y - reset_distance_ / 2.0;
@@ -182,19 +239,20 @@ private:
     int start_y = 0;
     int end_x = 0;
     int end_y = 0;
-    costmap->worldToMapNoBounds(start_point_x, start_point_y, start_x, start_y);
+    layer->worldToMapNoBounds(start_point_x, start_point_y, start_x, start_y);
-    costmap->worldToMapNoBounds(end_point_x, end_point_y, end_x, end_y);
+    layer->worldToMapNoBounds(end_point_x, end_point_y, end_x, end_y);
 
-    costmap->clearArea(start_x, start_y, end_x, end_y, invert_area_to_clear_);
+    layer->clearArea(start_x, start_y, end_x, end_y, invert_area_to_clear_);
-    costmap->addExtraBounds(costmap->getOriginX(), costmap->getOriginY(),
+
-                            costmap->getOriginX() + costmap->getSizeInMetersX(),
+    // Báo cho layer biết toàn bộ vùng của nó cần được ghi lại vào master ở chu kỳ update kế tiếp.
-                            costmap->getOriginY() + costmap->getSizeInMetersY());
+    layer->addExtraBounds(layer->getOriginX(), layer->getOriginY(),
+                          layer->getOriginX() + layer->getSizeInMetersX(),
+                          layer->getOriginY() + layer->getSizeInMetersY());
   }
 
-  bool force_updating_ = false;
+  double reset_distance_ = kDefaultResetDistance;  ///< [m] cạnh vùng vuông quanh robot
-  double reset_distance_ = 3.0;
+  bool invert_area_to_clear_ = false;              ///< true = xoá phần NGOÀI vùng
-  bool invert_area_to_clear_ = false;
+  std::string affected_maps_ = "both";             ///< local | global | both
-  std::string affected_maps_ = "both";
   std::set<std::string> clearable_layers_;
 };
 

plugins/regen_path_recovery.cpp

@@ -1,62 +0,0 @@
-/*********************************************************************
- *
- * Software License Agreement (BSD License)
- *
- * recovery_core — path output recovery plugin (goal-driven, one-shot).
- *
- * Author: DuongTD
- *********************************************************************/
-
-#include <recovery_core/recovery_behavior.h>
-
-#include <boost/dll/alias.hpp>
-#include <robot/robot.h>
-
-namespace recovery_plugins
-{
-
-/**
- * @class RegenPathRecovery
- * @brief Họ A (path output), one-shot: trả lại robot_nav_msgs::Path từ global_path hiện tại.
- *
- * Hoàn tất ngay ở lần update() đầu. Guard chưa configure/global_path null hoặc rỗng -> Failed().
- */
-class RegenPathRecovery final : public recovery_core::RecoveryBehavior
-{
-public:
-  RegenPathRecovery() = default;
-
-  static recovery_core::RecoveryBehavior::RecoveryBehaviorPtr create()
-  {
-    return std::make_shared<RegenPathRecovery>();
-  }
-
-protected:
-  recovery_core::RecoveryResult onStart(const recovery_core::RecoveryGoal& /*goal*/) override
-  {
-    // One-shot: công việc thực hiện ở onUpdate() lần đầu, giữ start() gọn.
-    return recovery_core::RecoveryResult::Velocity(robot_geometry_msgs::Twist(),
-                                                   recovery_core::RecoveryStatus::kRunning)
-        .withMessage("regen path start");
-  }
-
-  recovery_core::RecoveryResult onUpdate() override
-  {
-    const auto* global_path = ctx().global_path;
-    if (global_path == nullptr || global_path->empty())
-    {
-      return recovery_core::RecoveryResult::Failed().withMessage("no global path to regenerate");
-    }
-
-    robot_nav_msgs::Path path;
-    path.poses = *global_path;
-
-    return recovery_core::RecoveryResult::PathOut(path, recovery_core::RecoveryStatus::kSucceeded)
-        .withProgress(1.0, 0.0)
-        .withMessage("regen path complete");
-  }
-};
-
-}  // namespace recovery_plugins
-
-BOOST_DLL_ALIAS(recovery_plugins::RegenPathRecovery::create, RegenPathRecovery)

plugins/rotate_recovery.cpp

@@ -2,12 +2,13 @@
  *
  * Software License Agreement (BSD License)
  *
- * recovery_core — per-cycle rotate recovery plugin (goal-driven).
+ * recovery_core — quay tại chỗ, quét cung trước khi quay và đo bằng pose thật.
  *
  * Author: DuongTD
  *********************************************************************/
 
 #include <recovery_core/recovery_behavior.h>
+#include <recovery_core/recovery_math.h>
 
 #include <algorithm>
 #include <cmath>
@@ -20,18 +21,30 @@ namespace recovery_plugins
 {
 namespace
 {
-constexpr double kDefaultTargetAngle = 1.57079632679;  // pi/2 rad.
+constexpr double kTwoPi = 2.0 * M_PI;
-constexpr double kDefaultAngularSpeed = 0.4;           // rad/s.
+constexpr double kDefaultAngularSpeed = 0.4;    // [rad/s] độ lớn
-constexpr double kDefaultControlPeriod = 0.1;          // s per update tick.
+constexpr double kDefaultAccLimTheta = 0.8;     // [rad/s^2]
+constexpr double kDefaultSimGranularity = 0.1;  // [rad] bước quét cung
+constexpr double kMaxAngularSpeed = 2.0;        // [rad/s] trần vệ sinh cho param sai
+constexpr double kGoalTolerance = 1e-3;         // [rad]
 }  // namespace
 
 /**
  * @class RotateRecovery
- * @brief Quay tại chỗ tới GÓC ĐÍCH do caller yêu cầu ở start(goal).
+ * @brief Quay tại chỗ, mặc định đủ một vòng, để costmap quan sát lại xung quanh.
  *
- * goal.angle (rad, có dấu) là góc quay lượt này; 0 nghĩa là dùng default configured. Tốc độ
+ * Quay đủ 2π là công dụng chính của rotate trong một bộ recovery: nó cho obstacle/voxel layer nhìn
- * góc mặc định đọc từ param, có thể override qua goal.params["angular_speed"]. Mỗi update() trả
+ * thấy toàn bộ vùng quanh robot rồi mới lập plan lại. Đặt `full_rotation: false` hoặc truyền
- * Twist.angular.z kèm progress/remaining tới khi đủ góc -> kSucceeded (zero command).
+ * `goal.angle` để quay một góc cụ thể.
+ *
+ * Hai lớp bảo vệ so với bản trước (bản trước không dùng `ctx()` một lần nào):
+ *  1. **Quét toàn bộ cung sẽ quay** tại `onStart()` theo bước `sim_granularity`; chạm vật cản ở bất
+ *     kỳ góc nào là từ chối khởi động, chứ không quay tới nơi mới phát hiện.
+ *  2. **Tiến độ đo bằng pose thật**, cộng dồn từng chênh lệch yaw đã chuẩn hoá — nên quay > π vẫn
+ *     đếm đúng, và loop chạy chậm không làm robot quay quá góc.
+ *
+ * @note Yêu cầu robot xoay tại chỗ được (differential/omni). Config workspace hiện tại thoả:
+ *       `min_turn_radius: 0.0`, `use_rotate_to_heading: true`.
  */
 class RotateRecovery final : public recovery_core::RecoveryBehavior
 {
@@ -43,95 +56,221 @@ public:
     return std::make_shared<RotateRecovery>();
   }
 
+  recovery_core::RecoveryOutputType outputKind() const override
+  {
+    return recovery_core::RecoveryOutputType::kVelocity;
+  }
+
 protected:
-  void onConfigure() override
+  bool onConfigure(robot::NodeHandle& nh) override
   {
-    robot::NodeHandle private_nh("~/" + name_);
+    nh.param("full_rotation", full_rotation_, true);
-    private_nh.param("target_angle", default_target_angle_, kDefaultTargetAngle);
+    nh.param("target_angle", default_target_angle_, kTwoPi);
-    private_nh.param("angular_speed", default_angular_speed_, kDefaultAngularSpeed);
+    nh.param("angular_speed", default_angular_speed_, kDefaultAngularSpeed);
-    private_nh.param("control_period", control_period_, kDefaultControlPeriod);
+    nh.param("acc_lim_theta", acc_lim_theta_, kDefaultAccLimTheta);
+    nh.param("sim_granularity", sim_granularity_, kDefaultSimGranularity);
 
-    if (!std::isfinite(default_target_angle_) || std::abs(default_target_angle_) <= 0.0)
+    default_target_angle_ = clampAngle(default_target_angle_, kTwoPi);
+    default_angular_speed_ = clampSpeed(default_angular_speed_, kDefaultAngularSpeed);
+
+    if (!std::isfinite(acc_lim_theta_) || acc_lim_theta_ < 0.0)
     {
-      robot::log_warning("[recovery_core] Invalid target_angle for '%s'; using pi/2.",
+      robot::log_warning("[recovery_core] '%s': acc_lim_theta=%.3f rad/s^2 is invalid; using %.3f.",
-                         name_.c_str());
+                         name().c_str(), acc_lim_theta_, kDefaultAccLimTheta);
-      default_target_angle_ = kDefaultTargetAngle;
+      acc_lim_theta_ = kDefaultAccLimTheta;
-    }
-    if (!std::isfinite(default_angular_speed_) || default_angular_speed_ <= 0.0)
-    {
-      robot::log_warning("[recovery_core] Invalid angular_speed for '%s'; using 0.4 rad/s.",
-                         name_.c_str());
-      default_angular_speed_ = kDefaultAngularSpeed;
-    }
-    if (!std::isfinite(control_period_) || control_period_ <= 0.0)
-    {
-      robot::log_warning("[recovery_core] Invalid control_period for '%s'; using 0.1 s.",
-                         name_.c_str());
-      control_period_ = kDefaultControlPeriod;
-    }
     }
 
-  recovery_core::RecoveryResult onStart(const recovery_core::RecoveryGoal& goal) override
+    if (!std::isfinite(sim_granularity_) || sim_granularity_ <= 0.0)
     {
-    // Góc đích: goal.angle nếu hợp lệ, ngược lại default configured.
+      robot::log_warning("[recovery_core] '%s': sim_granularity=%.3f rad is invalid; using %.3f "
-    target_angle_ = (std::isfinite(goal.angle) && std::abs(goal.angle) > 0.0)
+                         "rad.", name().c_str(), sim_granularity_, kDefaultSimGranularity);
-                        ? goal.angle
+      sim_granularity_ = kDefaultSimGranularity;
-                        : default_target_angle_;
-
-    angular_speed_ = std::abs(goal.param("angular_speed", default_angular_speed_));
-    if (!std::isfinite(angular_speed_) || angular_speed_ <= 0.0)
-    {
-      angular_speed_ = default_angular_speed_;
     }
 
-    rotated_angle_ = 0.0;
+    return true;
-    return recovery_core::RecoveryResult::Velocity(robot_geometry_msgs::Twist(),
-                                                   recovery_core::RecoveryStatus::kRunning)
-        .withProgress(0.0, std::abs(target_angle_))
-        .withMessage("rotate start");
   }
 
-  recovery_core::RecoveryResult onUpdate() override
+  bool onStart(const recovery_core::RecoveryGoal& goal) override
+  {
+    robot_geometry_msgs::PoseStamped pose;
+    if (!ctx().pose->getRobotPose(pose))
+    {
+      robot::log_warning("[recovery_core] '%s': could not get a pose at start-up (TF stale?).",
+                         name().c_str());
+      return false;
+    }
+
+    start_pose_ = pose;
+    start_yaw_ = recovery_core::yawOf(pose);
+    last_yaw_ = start_yaw_;
+    rotated_ = 0.0;
+    current_speed_ = 0.0;
+
+    // goal.angle có giá trị (kể cả 0.0) thì tôn trọng đúng giá trị đó. Bản trước coi 0 là "chưa
+    // đặt" nên một góc tính ra ~0 bị âm thầm thay bằng pi/2.
+    const double requested = goal.angle.value_or(full_rotation_ ? kTwoPi : default_target_angle_);
+    target_angle_ = clampAngle(requested, default_target_angle_);
+    angular_speed_ = clampSpeed(std::abs(goal.param("angular_speed", default_angular_speed_)),
+                                default_angular_speed_);
+
+    if (std::abs(target_angle_) <= kGoalTolerance)
+    {
+      // Caller nói rõ "đừng quay". Đó là một yêu cầu hợp lệ và hoàn tất ngay.
+      zero_rotation_ = true;
+      return true;
+    }
+    zero_rotation_ = false;
+
+    if (!arcIsClear())
+    {
+      robot::log_warning("[recovery_core] '%s': the %.3f rad arc is blocked, refusing to rotate.",
+                         name().c_str(), target_angle_);
+      return false;
+    }
+
+    return true;
+  }
+
+  recovery_core::RecoveryResult onUpdate(const robot::Time& /*now*/, double dt) override
   {
     const double target = std::abs(target_angle_);
 
-    if (rotated_angle_ >= target)
+    if (zero_rotation_)
     {
-      return succeeded(target);
+      return stopResult(recovery_core::RecoveryStatus::kSucceeded)
+          .withProgress(1.0, 0.0)
+          .withMessage("rotate 0 rad — nothing to rotate");
     }
 
-    robot_geometry_msgs::Twist command;
+    robot_geometry_msgs::PoseStamped pose;
-    command.angular.z = std::copysign(angular_speed_, target_angle_);
+    if (!ctx().pose->getRobotPose(pose))
-    rotated_angle_ =
-        std::min(target, rotated_angle_ + std::abs(command.angular.z) * control_period_);
-
-    if (rotated_angle_ >= target)
     {
-      return succeeded(target);
+      current_speed_ = 0.0;
+      return stopResult(recovery_core::RecoveryStatus::kFailed)
+          .withMessage("robot pose lost (TF stale?) — stopping the rotation");
     }
 
-    return recovery_core::RecoveryResult::Velocity(command,
+    const double yaw = recovery_core::yawOf(pose);
-                                                   recovery_core::RecoveryStatus::kRunning)
-        .withProgress(rotated_angle_ / target, target - rotated_angle_)
-        .withMessage("rotating");
-  }
 
-private:
+    // Cộng dồn từng bước đã chuẩn hoá: cách duy nhất đếm đúng khi tổng góc quay vượt pi.
-  recovery_core::RecoveryResult succeeded(double target)
+    rotated_ += std::abs(recovery_core::normalizeAngle(yaw - last_yaw_));
+    last_yaw_ = yaw;
+
+    const double remaining = target - rotated_;
+    if (remaining <= kGoalTolerance)
     {
-    return recovery_core::RecoveryResult::Velocity(robot_geometry_msgs::Twist(),
+      current_speed_ = 0.0;
-                                                   recovery_core::RecoveryStatus::kSucceeded)
+      return stopResult(recovery_core::RecoveryStatus::kSucceeded)
           .withProgress(1.0, 0.0)
           .withMessage("rotate complete");
     }
 
-  double default_target_angle_ = kDefaultTargetAngle;
+    double speed = recovery_core::rampToward(angular_speed_, current_speed_, acc_lim_theta_, dt);
-  double default_angular_speed_ = kDefaultAngularSpeed;
+    if (dt > 0.0)
-  double control_period_ = kDefaultControlPeriod;
+    {
+      speed = std::min(speed, remaining / dt);
+    }
+    speed = std::max(speed, 0.0);
 
-  double target_angle_ = kDefaultTargetAngle;
+    // Cung đã quét ở onStart(), nhưng costmap đổi giữa chừng thì phải phát hiện: kiểm góc dự đoán
-  double angular_speed_ = kDefaultAngularSpeed;
+    // ở cuối chu kỳ tới trước khi phát lệnh.
-  double rotated_angle_ = 0.0;
+    const double direction = target_angle_ >= 0.0 ? 1.0 : -1.0;
+    const double next_yaw = yaw + direction * std::max(speed * dt, sim_granularity_);
+    if (ctx().collision->footprintCost(pose.pose.position.x, pose.pose.position.y, next_yaw) < 0.0)
+    {
+      current_speed_ = 0.0;
+      return stopResult(recovery_core::RecoveryStatus::kFailed)
+          .withMessage("the rotation arc became blocked midway — stopping the rotation");
+    }
+
+    current_speed_ = speed;
+
+    robot_geometry_msgs::Twist command;
+    command.angular.z = std::copysign(speed, target_angle_);  // [rad/s], + = ngược chiều kim đồng hồ
+
+    return recovery_core::RecoveryResult::Velocity(command,
+                                                   recovery_core::RecoveryStatus::kRunning)
+        .withProgress(rotated_ / target, remaining)
+        .withMessage("rotating");
+  }
+
+  recovery_core::RecoveryResult onCancel() override
+  {
+    current_speed_ = 0.0;
+    return stopResult(recovery_core::RecoveryStatus::kCancelled).withMessage("rotate cancelled");
+  }
+
+private:
+  /// @return true nếu toàn bộ cung sẽ quay đều đặt được footprint.
+  bool arcIsClear() const
+  {
+    const double target = std::abs(target_angle_);
+    const double direction = target_angle_ >= 0.0 ? 1.0 : -1.0;
+    const double x = start_pose_.pose.position.x;
+    const double y = start_pose_.pose.position.y;
+
+    for (double swept = 0.0; swept < target; swept += sim_granularity_)
+    {
+      if (ctx().collision->footprintCost(x, y, start_yaw_ + direction * swept) < 0.0)
+      {
+        return false;
+      }
+    }
+
+    // Kiểm luôn góc cuối: vòng lặp trên dừng trước target nếu target không chia hết cho bước quét.
+    return ctx().collision->footprintCost(x, y, start_yaw_ + direction * target) >= 0.0;
+  }
+
+  double clampAngle(double value, double fallback) const
+  {
+    if (!std::isfinite(value))
+    {
+      robot::log_warning("[recovery_core] '%s': target_angle is not finite; using %.3f rad.",
+                         name().c_str(), fallback);
+      return fallback;
+    }
+    if (std::abs(value) > kTwoPi)
+    {
+      robot::log_warning("[recovery_core] '%s': target_angle=%.3f rad exceeds +/-2pi; clamped.",
+                         name().c_str(), value);
+      return std::copysign(kTwoPi, value);
+    }
+    return value;
+  }
+
+  double clampSpeed(double value, double fallback) const
+  {
+    if (!std::isfinite(value) || value <= 0.0)
+    {
+      robot::log_warning("[recovery_core] '%s': angular_speed=%.3f rad/s is invalid; using %.3f "
+                         "rad/s.", name().c_str(), value, fallback);
+      return fallback;
+    }
+    if (value > kMaxAngularSpeed)
+    {
+      robot::log_warning("[recovery_core] '%s': angular_speed=%.3f rad/s > limit %.3f; clamped.",
+                         name().c_str(), value, kMaxAngularSpeed);
+      return kMaxAngularSpeed;
+    }
+    return value;
+  }
+
+  // Config
+  bool full_rotation_ = true;
+  double default_target_angle_ = kTwoPi;                  ///< [rad]
+  double default_angular_speed_ = kDefaultAngularSpeed;   ///< [rad/s]
+  double acc_lim_theta_ = kDefaultAccLimTheta;            ///< [rad/s^2]
+  double sim_granularity_ = kDefaultSimGranularity;       ///< [rad]
+
+  // Trạng thái lượt hiện tại
+  robot_geometry_msgs::PoseStamped start_pose_;
+  double start_yaw_ = 0.0;                                ///< [rad]
+  double last_yaw_ = 0.0;                                 ///< [rad]
+  double rotated_ = 0.0;                                  ///< [rad] cộng dồn, luôn >= 0
+  double target_angle_ = kTwoPi;                          ///< [rad] có dấu
+  double angular_speed_ = kDefaultAngularSpeed;           ///< [rad/s] độ lớn
+  double current_speed_ = 0.0;                            ///< [rad/s] đang phát, để ramp
+  bool zero_rotation_ = false;                            ///< caller yêu cầu góc 0
 };
 
 }  // namespace recovery_plugins

plugins/wait_recovery.cpp

@@ -0,0 +1,103 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * recovery_core — đợi tại chỗ, không phát output.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+
+#include <recovery_core/recovery_behavior.h>
+
+#include <cmath>
+#include <string>
+
+#include <boost/dll/alias.hpp>
+#include <robot/robot.h>
+
+namespace recovery_plugins
+{
+namespace
+{
+constexpr double kDefaultWaitDuration = 3.0;  // [s]
+constexpr double kMaxWaitDuration = 300.0;    // [s] trần vệ sinh cho param cấu hình sai.
+}  // namespace
+
+/**
+ * @class WaitRecovery
+ * @brief Đứng yên một khoảng thời gian rồi báo thành công.
+ *
+ * Đây là recovery **an toàn nhất** trong bộ default và nên đứng đầu danh sách: nó không di chuyển,
+ * không cần pose, không cần collision check. Với AMR/AGV trong kho, phần lớn tình huống chặn đường
+ * là vật cản động (người, xe khác) — đợi vài giây rồi lập plan lại giải quyết được đa số, trong khi
+ * mọi behavior khác đều bắt robot cử động trong lúc chưa biết chuyện gì đang xảy ra.
+ *
+ * Thời lượng: `goal.params["wait_duration"]` cho lượt này, ngược lại param `wait_duration`.
+ */
+class WaitRecovery final : public recovery_core::RecoveryBehavior
+{
+public:
+  WaitRecovery() = default;
+
+  static recovery_core::RecoveryBehavior::RecoveryBehaviorPtr create()
+  {
+    return std::make_shared<WaitRecovery>();
+  }
+
+  recovery_core::RecoveryOutputType outputKind() const override
+  {
+    return recovery_core::RecoveryOutputType::kNone;
+  }
+
+protected:
+  bool onConfigure(robot::NodeHandle& nh) override
+  {
+    nh.param("wait_duration", default_wait_duration_, kDefaultWaitDuration);
+    default_wait_duration_ = sanitizeDuration(default_wait_duration_, kDefaultWaitDuration);
+    return true;
+  }
+
+  bool onStart(const recovery_core::RecoveryGoal& goal) override
+  {
+    wait_duration_ = sanitizeDuration(goal.param("wait_duration", default_wait_duration_),
+                                      default_wait_duration_);
+    return true;
+  }
+
+  recovery_core::RecoveryResult onUpdate(const robot::Time& /*now*/, double /*dt*/) override
+  {
+    // elapsed() do base đo bằng đồng hồ thật, nên loop chạy chậm không làm sai thời lượng đợi.
+    const double waited = elapsed();
+
+    if (waited >= wait_duration_)
+    {
+      return recovery_core::RecoveryResult::Succeeded()
+          .withProgress(1.0, 0.0)
+          .withMessage("wait complete");
+    }
+
+    return recovery_core::RecoveryResult::Running()
+        .withProgress(waited / wait_duration_, wait_duration_ - waited)
+        .withMessage("waiting");
+  }
+
+private:
+  double sanitizeDuration(double value, double fallback) const
+  {
+    if (!std::isfinite(value) || value <= 0.0 || value > kMaxWaitDuration)
+    {
+      robot::log_warning("[recovery_core] '%s': wait_duration=%.3f s outside (0, %.0f]; using %.3f "
+                         "s.",
+                         name().c_str(), value, kMaxWaitDuration, fallback);
+      return fallback;
+    }
+    return value;
+  }
+
+  double default_wait_duration_ = kDefaultWaitDuration;  ///< [s]
+  double wait_duration_ = kDefaultWaitDuration;          ///< [s] mục tiêu lượt này
+};
+
+}  // namespace recovery_plugins
+
+BOOST_DLL_ALIAS(recovery_plugins::WaitRecovery::create, WaitRecovery)

src/recovery_behavior.cpp

@@ -1,79 +1,167 @@
 /*********************************************************************
  * recovery_core — phần chung (template-method) của RecoveryBehavior.
  *
- * configure()/start()/update()/cancel() là NON-VIRTUAL: base lo guard vòng đời và xử lý
+ * Base giữ toàn bộ bất biến vòng đời, thời gian, và họ output; plugin chỉ triển khai hook.
- * cancel; plugin chỉ triển khai onConfigure()/onStart()/onUpdate().
  *
  * Author: DuongTD
  *********************************************************************/
 #include <recovery_core/recovery_behavior.h>
 
+#include <cmath>
+
+#include <robot/robot.h>
+
 namespace recovery_core
 {
 namespace
 {
-robot_geometry_msgs::Twist zeroTwist()
+constexpr double kDefaultTimeout = 0.0;   ///< [s] 0 = không giới hạn.
+constexpr double kMaxTimeout = 600.0;     ///< [s] trần vệ sinh cho param cấu hình sai.
+
+/// Một giá trị optional hợp lệ phải hữu hạn.
+bool finiteIfSet(const std::optional<double>& value)
 {
-  return robot_geometry_msgs::Twist();
+  return !value.has_value() || std::isfinite(*value);
 }
 }  // namespace
 
-void RecoveryBehavior::configure(const std::string& name, const RecoveryContext& ctx)
+bool RecoveryBehavior::configure(const std::string& name, const RecoveryContext& ctx,
+                                 robot::NodeHandle& nh)
 {
   if (configured_)
   {
-    return;
+    // Gọi lại với ctx khác là lỗi lập trình của caller. Bản cũ im lặng return, nên caller không bao
+    // giờ biết context thứ hai đã bị bỏ đi.
+    robot::log_error("[recovery_core] '%s': configure() called twice, ignored.", name_.c_str());
+    return false;
+  }
+
+  if (name.empty())
+  {
+    robot::log_error("[recovery_core] configure() with an empty instance name.");
+    return false;
   }
 
   name_ = name;
   ctx_ = ctx;
+
+  if (!validateContext())
+  {
+    name_.clear();
+    ctx_ = RecoveryContext();
+    return false;
+  }
+
+  nh.param("timeout", timeout_, kDefaultTimeout);
+  if (!std::isfinite(timeout_) || timeout_ < 0.0 || timeout_ > kMaxTimeout)
+  {
+    robot::log_warning("[recovery_core] '%s': timeout=%.3f s outside [0, %.0f]; using 0 (no "
+                       "limit).", name_.c_str(), timeout_, kMaxTimeout);
+    timeout_ = kDefaultTimeout;
+  }
+
+  if (!onConfigure(nh))
+  {
+    robot::log_error("[recovery_core] '%s': onConfigure() failed.", name_.c_str());
+    name_.clear();
+    ctx_ = RecoveryContext();
+    return false;
+  }
+
   status_ = RecoveryStatus::kIdle;
-
-  onConfigure();
-
   configured_ = true;
+  return true;
 }
 
-RecoveryResult RecoveryBehavior::start(const RecoveryGoal& goal)
+bool RecoveryBehavior::start(const RecoveryGoal& goal, const robot::Time& now)
 {
   if (!configured_)
   {
-    status_ = RecoveryStatus::kFailed;
+    robot::log_error("[recovery_core] start() before configure().");
-    return RecoveryResult::Failed().withMessage("start() before configure()");
+    return false;
+  }
+
+  if (started_ && status_ == RecoveryStatus::kRunning && !cancel_requested_)
+  {
+    // Không từ chối: sau cancel(), state machine có thể start lượt mới mà lượt cũ chưa kịp về
+    // terminal (nó không tick recovery ở state CANCELLING). Nhưng vẫn phải báo, vì nếu KHÔNG phải
+    // đường cancel thì đây là caller đang bỏ dở một behavior đang lái robot.
+    robot::log_warning("[recovery_core] '%s': start() while the previous run is still going — "
+                       "resetting.",
+                       name_.c_str());
+  }
+
+  if (!validateGoal(goal))
+  {
+    return false;
   }
 
   goal_ = goal;
   cancel_requested_ = false;
-  started_ = true;
+  start_time_ = now;
+  last_update_ = now;
+  elapsed_ = 0.0;
   status_ = RecoveryStatus::kRunning;
+  started_ = true;
 
-  RecoveryResult result = onStart(goal_);
+  if (!onStart(goal_))
-  status_ = result.status;
+  {
-  return result;
+    status_ = RecoveryStatus::kFailed;
+    robot::log_warning("[recovery_core] '%s': refused to start (trigger=%s).", name_.c_str(),
+                       toString(goal_.trigger));
+    return false;
+  }
+
+  return true;
 }
 
-RecoveryResult RecoveryBehavior::update()
+RecoveryResult RecoveryBehavior::update(const robot::Time& now)
 {
   if (!configured_ || !started_)
   {
     status_ = RecoveryStatus::kFailed;
-    return RecoveryResult::Failed().withMessage("update() before start()");
+    return stopResult(RecoveryStatus::kFailed).withMessage("update() before start()");
   }
 
-  // Đã kết thúc: giữ nguyên trạng thái, không tick thêm.
   if (status_ != RecoveryStatus::kRunning)
   {
-    return RecoveryResult::Velocity(zeroTwist(), status_);
+    // Lượt đã kết thúc: giữ nguyên kết luận, không tick thêm.
+    return stopResult(status_);
+  }
+
+  // dt đo THẬT. Đây là điểm sửa cốt lõi so với bản cũ: bản cũ tích phân vận tốc lệnh nhân với
+  // control_period lấy từ config, nên control loop chạy chậm là robot đi quá quãng yêu cầu.
+  double dt = (now - last_update_).toSec();
+  if (!std::isfinite(dt) || dt < 0.0)
+  {
+    // Đồng hồ đi lùi (đổi nguồn thời gian, hoặc sim reset). Coi như không có thời gian trôi thay vì
+    // tích phân một dt âm vào tiến độ.
+    robot::log_warning("[recovery_core] '%s': dt=%.6f s is invalid, treated as 0.", name_.c_str(),
+                       dt);
+    dt = 0.0;
+  }
+  last_update_ = now;
+  elapsed_ = (now - start_time_).toSec();
+  if (!std::isfinite(elapsed_) || elapsed_ < 0.0)
+  {
+    elapsed_ = 0.0;
   }
 
   if (cancel_requested_)
   {
-    status_ = RecoveryStatus::kCancelled;
+    RecoveryResult result = finalize(onCancel());
-    return RecoveryResult::Velocity(zeroTwist(), status_)
+    status_ = result.status;
-        .withMessage("cancelled by caller");
+    return result;
   }
 
-  RecoveryResult result = onUpdate();
+  if (timeout_ > 0.0 && elapsed_ >= timeout_)
+  {
+    status_ = RecoveryStatus::kFailed;
+    return stopResult(RecoveryStatus::kFailed)
+        .withMessage("exceeded the timeout of " + std::to_string(timeout_) + " s");
+  }
+
+  RecoveryResult result = finalize(onUpdate(now, dt));
   status_ = result.status;
   return result;
 }
@@ -83,4 +171,126 @@ void RecoveryBehavior::cancel()
   cancel_requested_ = true;
 }
 
+RecoveryResult RecoveryBehavior::onCancel()
+{
+  return stopResult(RecoveryStatus::kCancelled).withMessage("cancelled by caller");
+}
+
+RecoveryResult RecoveryBehavior::stopResult(RecoveryStatus status) const
+{
+  RecoveryResult result;
+  result.status = status;
+  result.elapsed = elapsed_;
+
+  if (outputKind() == RecoveryOutputType::kVelocity)
+  {
+    // Họ velocity: phát lệnh dừng TƯỜNG MINH. Caller đang lấy cmd_vel từ behavior này nên "không
+    // output" và "output vận tốc 0" là hai chuyện khác nhau.
+    result.output_type = RecoveryOutputType::kVelocity;
+    result.command = robot_geometry_msgs::Twist();
+  }
+  else
+  {
+    // Họ khác: KHÔNG bịa ra output vận tốc. Bản cũ trả Velocity(zero) cho mọi họ, nên một behavior
+    // clear-costmap báo cáo mình phát vận tốc.
+    result.output_type = RecoveryOutputType::kNone;
+  }
+
+  return result;
+}
+
+bool RecoveryBehavior::validateContext() const
+{
+  const RecoveryOutputType kind = outputKind();
+
+  if (kind == RecoveryOutputType::kVelocity)
+  {
+    if (ctx_.pose == nullptr)
+    {
+      robot::log_error("[recovery_core] '%s': the velocity family requires a PoseProvider — "
+                       "progress must be measured from a real pose, not dead-reckoned.",
+                       name_.c_str());
+      return false;
+    }
+    if (ctx_.collision == nullptr)
+    {
+      robot::log_error("[recovery_core] '%s': the velocity family requires a CollisionChecker — "
+                       "driving blind is not allowed.", name_.c_str());
+      return false;
+    }
+  }
+
+  if (kind == RecoveryOutputType::kPath && ctx_.plan == nullptr)
+  {
+    robot::log_error("[recovery_core] '%s': the path family requires a PlanProvider.",
+                     name_.c_str());
+    return false;
+  }
+
+  return true;
+}
+
+bool RecoveryBehavior::validateGoal(const RecoveryGoal& goal) const
+{
+  if (!finiteIfSet(goal.angle) || !finiteIfSet(goal.distance))
+  {
+    robot::log_error("[recovery_core] '%s': goal contains NaN/Inf.", name_.c_str());
+    return false;
+  }
+
+  if (goal.distance.has_value() && *goal.distance <= 0.0)
+  {
+    robot::log_error("[recovery_core] '%s': goal.distance=%.3f m must be > 0.", name_.c_str(),
+                     *goal.distance);
+    return false;
+  }
+
+  for (const auto& entry : goal.params)
+  {
+    if (!std::isfinite(entry.second))
+    {
+      robot::log_error("[recovery_core] '%s': goal.params['%s'] is not finite.", name_.c_str(),
+                       entry.first.c_str());
+      return false;
+    }
+  }
+
+  return true;
+}
+
+RecoveryResult RecoveryBehavior::finalize(RecoveryResult result) const
+{
+  const RecoveryOutputType kind = outputKind();
+
+  if (result.output_type != kind && result.output_type != RecoveryOutputType::kNone)
+  {
+    // Plugin trả sai họ. Hạ về kNone thay vì tin theo: caller route bằng output_type, nên một họ
+    // sai ở đây là caller đọc nhầm trường.
+    robot::log_error("[recovery_core] '%s': returned output_type='%s' but outputKind()='%s'; "
+                     "downgraded to 'none'.", name_.c_str(), toString(result.output_type), toString(kind));
+    result.output_type = RecoveryOutputType::kNone;
+    result.command = robot_geometry_msgs::Twist();
+    result.path = robot_nav_msgs::Path();
+  }
+
+  if (result.output_type == RecoveryOutputType::kVelocity)
+  {
+    const robot_geometry_msgs::Twist& cmd = result.command;
+    if (!std::isfinite(cmd.linear.x) || !std::isfinite(cmd.linear.y) ||
+        !std::isfinite(cmd.linear.z) || !std::isfinite(cmd.angular.x) ||
+        !std::isfinite(cmd.angular.y) || !std::isfinite(cmd.angular.z))
+    {
+      // NaN/Inf lọt ra cmd_vel là lỗi không được phép đi tiếp: đổi thành lệnh dừng + kFailed.
+      robot::log_error("[recovery_core] '%s': velocity command contains NaN/Inf — forcing a stop.",
+                       name_.c_str());
+      RecoveryResult stop = stopResult(RecoveryStatus::kFailed);
+      stop.message = "velocity command is not finite";
+      return stop;
+    }
+  }
+
+  result.elapsed = elapsed_;
+  return result;
+}
+
 }  // namespace recovery_core

src/recovery_registry.cpp

@@ -0,0 +1,183 @@
+/*********************************************************************
+ * recovery_core — nạp behavior theo YAML bằng Boost.DLL.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <recovery_core/recovery_registry.h>
+
+#include <utility>
+
+#include <boost/dll/import.hpp>
+#include <boost/system/system_error.hpp>
+#include <yaml-cpp/yaml.h>
+
+#include <robot/robot.h>
+
+namespace recovery_core
+{
+
+RecoveryRegistry::~RecoveryRegistry()
+{
+  clear();
+}
+
+void RecoveryRegistry::clear()
+{
+  // Behavior phải chết TRƯỚC factory: factory là thứ giữ .so còn nạp, thả ngược thứ tự sẽ gỡ thư
+  // viện trong khi vẫn còn object của nó, và vtable sẽ trỏ vào vùng đã unmap.
+  behaviors_.clear();
+  factories_.clear();
+}
+
+bool RecoveryRegistry::registerBehavior(const RecoveryBehavior::RecoveryBehaviorPtr& behavior)
+{
+  if (!behavior)
+  {
+    robot::log_error("[recovery_core] RecoveryRegistry: behavior null.");
+    return false;
+  }
+
+  behaviors_.push_back(behavior);
+  return true;
+}
+
+RecoveryBehavior* RecoveryRegistry::at(std::size_t index) const
+{
+  return index < behaviors_.size() ? behaviors_[index].get() : nullptr;
+}
+
+std::string RecoveryRegistry::nameAt(std::size_t index) const
+{
+  return index < behaviors_.size() ? behaviors_[index]->name() : std::string();
+}
+
+bool RecoveryRegistry::loadOne(const std::string& name, const std::string& type,
+                               robot::NodeHandle& nh, const RecoveryContext& ctx,
+                               const std::string& ns)
+{
+  robot::PluginLoaderHelper loader(nh);
+  const std::string library_path = loader.findLibraryPath(type);
+
+  if (library_path.empty())
+  {
+    robot::log_error("[recovery_core] RecoveryRegistry: no library found for '%s' — check the key "
+                     "'%s/library_path' in the YAML and that the .so file exists.",
+                     type.c_str(), type.c_str());
+    return false;
+  }
+
+  std::function<RecoveryBehavior::RecoveryBehaviorPtr()> factory;
+
+  try
+  {
+    factory = boost::dll::import_alias<RecoveryBehavior::RecoveryBehaviorPtr()>(
+        library_path, type, boost::dll::load_mode::append_decorations);
+  }
+  catch (const boost::system::system_error& ex)
+  {
+    // Sai tên symbol hoặc file không nạp được. Bắt tại đây để một plugin hỏng không giết cả tiến
+    // trình, nhưng vẫn báo lỗi để không ai tưởng đường phục hồi này đang chạy.
+    robot::log_error("[recovery_core] RecoveryRegistry: could not load symbol '%s' from '%s': %s",
+                     type.c_str(), library_path.c_str(), ex.what());
+    return false;
+  }
+  catch (const std::exception& ex)
+  {
+    robot::log_error("[recovery_core] RecoveryRegistry: error while loading '%s': %s", type.c_str(),
+                     ex.what());
+    return false;
+  }
+
+  RecoveryBehavior::RecoveryBehaviorPtr behavior;
+  try
+  {
+    behavior = factory();
+  }
+  catch (const std::exception& ex)
+  {
+    robot::log_error("[recovery_core] RecoveryRegistry: factory of '%s' threw an exception: %s",
+                     type.c_str(), ex.what());
+    return false;
+  }
+
+  if (!behavior)
+  {
+    robot::log_error("[recovery_core] RecoveryRegistry: factory of '%s' returned null.",
+                     type.c_str());
+    return false;
+  }
+
+  // Namespace param của instance do REGISTRY dựng, không phải plugin tự đi tìm trên disk. Nhờ vậy
+  // test chỉ cần trỏ NodeHandle vào cây config của mình là chạy được.
+  const std::string param_ns = ns.empty() ? name : ns + "/" + name;
+  robot::NodeHandle behavior_nh(nh, param_ns);
+
+  if (!behavior->configure(name, ctx, behavior_nh))
+  {
+    robot::log_error("[recovery_core] RecoveryRegistry: '%s' (instance '%s') configure() failed.",
+                     type.c_str(), name.c_str());
+    return false;
+  }
+
+  behaviors_.push_back(behavior);
+
+  // Chỉ giữ factory sau khi behavior đã vào danh sách: nếu hỏng thì cũng không giữ .so lại.
+  factories_.push_back(std::move(factory));
+
+  robot::log_info("[recovery_core] RecoveryRegistry: loaded '%s' (instance '%s', family '%s').",
+                  type.c_str(), name.c_str(), toString(behavior->outputKind()));
+  return true;
+}
+
+bool RecoveryRegistry::loadFromConfig(robot::NodeHandle& nh, const std::string& ns,
+                                      const RecoveryContext& ctx)
+{
+  const std::string key = ns.empty() ? std::string("behaviors") : ns + "/behaviors";
+
+  YAML::Node behaviors;
+  if (!nh.getParam(key, behaviors) || !behaviors.IsSequence() || behaviors.size() == 0)
+  {
+    robot::log_error("[recovery_core] RecoveryRegistry: '%s' is missing or is not a list — no "
+                     "recovery path was loaded.", key.c_str());
+    return false;
+  }
+
+  bool all_ok = true;
+
+  for (std::size_t i = 0; i < behaviors.size(); ++i)
+  {
+    const YAML::Node& entry = behaviors[i];
+
+    if (!entry.IsMap() || !entry["type"])
+    {
+      robot::log_error("[recovery_core] RecoveryRegistry: '%s[%zu]' is missing the 'type' key.",
+                       key.c_str(), i);
+      all_ok = false;
+      continue;
+    }
+
+    std::string type;
+    std::string name;
+    try
+    {
+      type = entry["type"].as<std::string>();
+      name = entry["name"] ? entry["name"].as<std::string>() : type;
+    }
+    catch (const YAML::Exception& ex)
+    {
+      robot::log_error("[recovery_core] RecoveryRegistry: '%s[%zu]' could not be read: %s",
+                       key.c_str(), i, ex.what());
+      all_ok = false;
+      continue;
+    }
+
+    if (!loadOne(name, type, nh, ctx, ns))
+    {
+      all_ok = false;
+    }
+  }
+
+  return all_ok;
+}
+
+}  // namespace recovery_core

src/recovery_types.cpp

@@ -1,5 +1,5 @@
 /*********************************************************************
- * recovery_core — factory cho RecoveryResult.
+ * recovery_core — factory + tên hiển thị cho kiểu hợp đồng.
  *
  * Author: DuongTD
  *********************************************************************/
@@ -10,6 +10,54 @@
 namespace recovery_core
 {
 
+const char* toString(RecoveryTrigger trigger)
+{
+  switch (trigger)
+  {
+    case RecoveryTrigger::kUnspecified:
+      return "unspecified";
+    case RecoveryTrigger::kPlanningFailed:
+      return "planning_failed";
+    case RecoveryTrigger::kControllingFailed:
+      return "controlling_failed";
+    case RecoveryTrigger::kOscillation:
+      return "oscillation";
+  }
+  return "unknown";
+}
+
+const char* toString(RecoveryStatus status)
+{
+  switch (status)
+  {
+    case RecoveryStatus::kIdle:
+      return "idle";
+    case RecoveryStatus::kRunning:
+      return "running";
+    case RecoveryStatus::kSucceeded:
+      return "succeeded";
+    case RecoveryStatus::kFailed:
+      return "failed";
+    case RecoveryStatus::kCancelled:
+      return "cancelled";
+  }
+  return "unknown";
+}
+
+const char* toString(RecoveryOutputType kind)
+{
+  switch (kind)
+  {
+    case RecoveryOutputType::kNone:
+      return "none";
+    case RecoveryOutputType::kVelocity:
+      return "velocity";
+    case RecoveryOutputType::kPath:
+      return "path";
+  }
+  return "unknown";
+}
+
 RecoveryResult RecoveryResult::Running()
 {
   RecoveryResult result;
@@ -57,8 +105,7 @@ RecoveryResult RecoveryResult::Velocity(const robot_geometry_msgs::Twist& comman
   return result;
 }
 
-RecoveryResult RecoveryResult::PathOut(const robot_nav_msgs::Path& path,
+RecoveryResult RecoveryResult::PathOut(const robot_nav_msgs::Path& path, RecoveryStatus status)
-                                       RecoveryStatus status)
 {
   RecoveryResult result;
   result.status = status;

test/CMakeLists.txt

@@ -1,26 +0,0 @@
-# Test target cho recovery_core contract.
-# Build khi cấu hình standalone và khi catkin bật test target của package.
-
-add_executable(recovery_core_plugin_loader_test plugin_loader_contract_test.cpp)
-
-target_include_directories(recovery_core_plugin_loader_test
-  PRIVATE
-    ${CMAKE_CURRENT_SOURCE_DIR}
-    ${STANDALONE_INCLUDE_DIRS}
-)
-
-target_link_libraries(recovery_core_plugin_loader_test
-  PRIVATE
-    recovery_core
-    yaml-cpp
-    ${Boost_LIBRARIES}
-    ${CMAKE_THREAD_LIBS_INIT}
-    ${CMAKE_DL_LIBS}
-)
-
-add_dependencies(recovery_core_plugin_loader_test ${RECOVERY_CORE_PLUGIN_TARGETS})
-
-target_compile_definitions(recovery_core_plugin_loader_test
-  PRIVATE
-    RECOVERY_CORE_PLUGIN_DIR=\"$<TARGET_FILE_DIR:recovery_core_rotate_recovery>\"
-)

test/backup_safety_test.cpp

@@ -0,0 +1,186 @@
+/*********************************************************************
+ *
+ * Kiểm ba lớp an toàn của BackUpRecovery.
+ *
+ * Bản trước không dùng collision checker (chỉ null-check con trỏ, và chỉ khi `require_costmap` bật
+ * — mặc định TẮT), nên mặc định robot lùi mù. Lùi là hướng robot thường không có sensor, nên đây là
+ * bộ test quan trọng nhất của Phase 3.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <cstdlib>
+
+#include <robot/node_handle.h>
+
+#include <recovery_core/recovery_registry.h>
+
+#include "recovery_test_utils.h"
+
+namespace
+{
+using recovery_core::RecoveryGoal;
+using recovery_core::RecoveryStatus;
+using recovery_test::VelocityRig;
+
+struct BackUpFixture
+{
+  BackUpFixture()
+  {
+    // Robot nhìn theo +x tại gốc; lùi nghĩa là đi về phía -x.
+    rig.pose.setPose(0.0, 0.0, 0.0);
+    loaded = registry.loadFromConfig(nh, "recovery", rig.ctx);
+    back_up = recovery_test::findBehavior(registry, "back_up");
+  }
+
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+  bool loaded = false;
+  recovery_core::RecoveryBehavior* back_up = nullptr;
+};
+
+TEST(BackupSafety, RefusesToStartWhenObstacleIsBehind)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  // Vật cản chạm biên sau của footprint (footprint 0.6 x 0.4 -> biên sau ở x = -0.3).
+  fixture.rig.costmap.setLethalCircle(-0.35, 0.0, 0.10);
+
+  EXPECT_FALSE(fixture.back_up->start(RecoveryGoal(), robot::Time(1000.0)));
+}
+
+TEST(BackupSafety, StopsWithZeroCommandWhenObstacleAppearsMidRun)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  ASSERT_TRUE(fixture.back_up->start(RecoveryGoal(), robot::Time(1000.0)));
+
+  // Vài tick đầu chạy bình thường.
+  robot::Time now(1000.0);
+  for (int i = 0; i < 3; ++i)
+  {
+    now = robot::Time(now.toSec() + 0.1);
+    const auto result = fixture.back_up->update(now);
+    ASSERT_EQ(result.status, RecoveryStatus::kRunning);
+    ASSERT_NE(result.velocity(), nullptr);
+    EXPECT_LT(result.velocity()->linear.x, 0.0);  // âm = lùi
+    fixture.rig.applyCommand(result.command, 0.1);
+  }
+
+  // Có người bước vào phía sau robot.
+  const double robot_x = fixture.rig.pose.rawPose().x;
+  fixture.rig.costmap.setLethalCircle(robot_x - 0.36, 0.0, 0.10);
+
+  now = robot::Time(now.toSec() + 0.1);
+  const auto blocked = fixture.back_up->update(now);
+
+  EXPECT_EQ(blocked.status, RecoveryStatus::kFailed);
+  ASSERT_NE(blocked.velocity(), nullptr);
+  EXPECT_DOUBLE_EQ(blocked.velocity()->linear.x, 0.0);
+  EXPECT_DOUBLE_EQ(blocked.velocity()->angular.z, 0.0);
+}
+
+TEST(BackupSafety, StopsWhenPoseIsLost)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  ASSERT_TRUE(fixture.back_up->start(RecoveryGoal(), robot::Time(1000.0)));
+  ASSERT_EQ(fixture.back_up->update(robot::Time(1000.1)).status, RecoveryStatus::kRunning);
+
+  // TF quá hạn / thiếu frame.
+  fixture.rig.pose.setAvailable(false);
+  const auto result = fixture.back_up->update(robot::Time(1000.2));
+
+  EXPECT_EQ(result.status, RecoveryStatus::kFailed);
+  ASSERT_NE(result.velocity(), nullptr);
+  EXPECT_DOUBLE_EQ(result.velocity()->linear.x, 0.0);
+}
+
+TEST(BackupSafety, RefusesToStartWhenPoseIsUnavailable)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  fixture.rig.pose.setAvailable(false);
+
+  EXPECT_FALSE(fixture.back_up->start(RecoveryGoal(), robot::Time(1000.0)));
+}
+
+TEST(BackupSafety, CommandNeverExceedsConfiguredSpeed)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  ASSERT_TRUE(fixture.back_up->start(RecoveryGoal(), robot::Time(1000.0)));
+
+  robot::Time now(1000.0);
+  for (int i = 0; i < 40; ++i)
+  {
+    now = robot::Time(now.toSec() + 0.1);
+    const auto result = fixture.back_up->update(now);
+    if (result.terminal())
+    {
+      break;
+    }
+    ASSERT_NE(result.velocity(), nullptr);
+    // linear_speed: 0.1 m/s trong config test.
+    EXPECT_LE(std::abs(result.velocity()->linear.x), 0.1 + 1e-9);
+    fixture.rig.applyCommand(result.command, 0.1);
+  }
+}
+
+TEST(BackupSafety, RampsUpInsteadOfSteppingToFullSpeed)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  ASSERT_TRUE(fixture.back_up->start(RecoveryGoal(), robot::Time(1000.0)));
+
+  // acc_lim_x: 0.3 m/s^2 -> sau 0.05 s không thể vượt 0.015 m/s.
+  const auto first = fixture.back_up->update(robot::Time(1000.05));
+  ASSERT_NE(first.velocity(), nullptr);
+  EXPECT_LE(std::abs(first.velocity()->linear.x), 0.015 + 1e-9);
+}
+
+TEST(BackupSafety, CancelEmitsZeroCommand)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  ASSERT_TRUE(fixture.back_up->start(RecoveryGoal(), robot::Time(1000.0)));
+  ASSERT_EQ(fixture.back_up->update(robot::Time(1000.1)).status, RecoveryStatus::kRunning);
+
+  fixture.back_up->cancel();
+  const auto result = fixture.back_up->update(robot::Time(1000.2));
+
+  EXPECT_EQ(result.status, RecoveryStatus::kCancelled);
+  ASSERT_NE(result.velocity(), nullptr);
+  EXPECT_DOUBLE_EQ(result.velocity()->linear.x, 0.0);
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+#ifdef RECOVERY_CORE_TEST_CONFIG_DIR
+  setenv("PNKX_NAV_CORE_CONFIG_DIR", RECOVERY_CORE_TEST_CONFIG_DIR, 0);
+#endif
+#ifdef RECOVERY_CORE_TEST_LIBRARY_DIR
+  setenv("PNKX_NAV_CORE_LIBRARY_PATH", RECOVERY_CORE_TEST_LIBRARY_DIR, 0);
+#endif
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

test/config/recovery_behaviors_params.yaml

@@ -0,0 +1,68 @@
+# Config CHỈ dùng cho test của gói. Bản runtime nằm ở
+# `pnkx_nav_core/config/recovery_behaviors_params.yaml` (C2) — sửa tham số vận hành thì sửa ở đó.
+#
+# Chạy test kèm: PNKX_NAV_CORE_CONFIG_DIR=src/AMR_T800/Test/recovery_core/test/config
+#
+# Chỉ khai các behavior chạy được với fake của nav_test_harness. ClearCostmapRecovery cần
+# Costmap2DROBOT thật (TF + layer), nên nó được kiểm ở tầng tích hợp chứ không ở đây.
+
+recovery:
+  # Thứ tự CHÍNH LÀ hành vi. Bản test giữ đúng thứ tự tương đối của bộ default.
+  behaviors:
+    - {name: wait,    type: WaitRecovery}
+    - {name: rotate,  type: RotateRecovery}
+    - {name: back_up, type: BackUpRecovery}
+
+  wait:
+    wait_duration: 3.0          # [s]
+
+  rotate:
+    full_rotation: true         # quay đủ 2*pi để costmap thấy xung quanh
+    angular_speed: 0.4          # [rad/s] độ lớn; dấu do goal.angle quyết định
+    acc_lim_theta: 0.8          # [rad/s^2]
+    sim_granularity: 0.1        # [rad] bước quét cung lúc start
+    timeout: 20.0               # [s]
+
+  back_up:
+    backup_distance: 0.28       # [m] cố ý KHÔNG chia hết cho quãng đi mỗi tick của test
+    backup_distance_max: 1.0    # [m] trần cứng
+    linear_speed: 0.1           # [m/s] độ lớn; dấu âm do plugin đặt
+    acc_lim_x: 0.3              # [m/s^2]
+    timeout: 15.0               # [s]
+
+# Namespace dành riêng cho test đường lỗi: param ngoài dải cho phép phải bị từ chối kèm cảnh báo,
+# không được nhận nguyên giá trị.
+recovery_bad:
+  bad_timeout:
+    timeout: -5.0               # [s] âm -> base phải quay về 0 (không giới hạn)
+
+# Namespace dành riêng cho test đường lỗi: type không có khoá library_path tương ứng bên dưới.
+recovery_missing_library:
+  behaviors:
+    - {name: ghost, type: GhostRecovery}
+
+# Namespace dành riêng cho test đường lỗi: một behavior tốt, một behavior hỏng — behavior tốt vẫn
+# phải được giữ lại.
+recovery_partial:
+  behaviors:
+    - {name: wait,  type: WaitRecovery}
+    - {name: ghost, type: GhostRecovery}
+  wait:
+    wait_duration: 1.0          # [s]
+
+# Bảng symbol -> thư viện cho Boost.DLL. Thiếu khoá library_path là nguyên nhân phổ biến nhất của
+# lỗi "plugin build xong nhưng runtime báo không tìm thấy".
+WaitRecovery:
+  library_path: librecovery_core_wait_recovery
+
+RotateRecovery:
+  library_path: librecovery_core_rotate_recovery
+
+BackUpRecovery:
+  library_path: librecovery_core_back_up_recovery
+
+ClearCostmapRecovery:
+  library_path: librecovery_core_clear_costmap_recovery
+
+# GhostRecovery cố ý KHÔNG khai library_path — registry_test dựa vào đó để kiểm thông báo lỗi có
+# nêu đích danh khoá bị thiếu hay không.

test/goal_semantics_test.cpp

@@ -0,0 +1,239 @@
+/*********************************************************************
+ *
+ * Kiểm ngữ nghĩa RecoveryGoal sau khi bỏ sentinel "0 = dùng default".
+ *
+ * Bản trước dùng `std::abs(goal.angle) > 0.0` để quyết định "caller có đặt góc không", nên một góc
+ * tính từ hình học ra đúng 0 bị âm thầm thay bằng pi/2 — robot quay 90 độ mà không log gì. Test này
+ * khoá lại: `std::optional` phân biệt được "không đặt" với "đặt bằng 0".
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <cstdlib>
+#include <limits>
+
+#include <robot/node_handle.h>
+
+#include <recovery_core/recovery_registry.h>
+
+#include "recovery_test_utils.h"
+
+namespace
+{
+using recovery_core::RecoveryGoal;
+using recovery_core::RecoveryStatus;
+using recovery_test::VelocityRig;
+
+constexpr double kTwoPi = 2.0 * M_PI;
+
+/// Nạp bộ behavior test qua đúng đường Boost.DLL mà runtime dùng.
+struct PluginFixture
+{
+  PluginFixture()
+  {
+    loaded = registry.loadFromConfig(nh, "recovery", rig.ctx);
+  }
+
+  recovery_core::RecoveryBehavior* behavior(const std::string& name)
+  {
+    return recovery_test::findBehavior(registry, name);
+  }
+
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+  bool loaded = false;
+};
+
+TEST(GoalSemantics, ExplicitZeroAngleDoesNotRotate)
+{
+  PluginFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  auto* rotate = fixture.behavior("rotate");
+  ASSERT_NE(rotate, nullptr);
+
+  RecoveryGoal goal;
+  goal.angle = 0.0;  // "đừng quay" — một yêu cầu hợp lệ
+
+  ASSERT_TRUE(rotate->start(goal, robot::Time(1000.0)));
+  const auto result = rotate->update(robot::Time(1000.1));
+
+  EXPECT_EQ(result.status, RecoveryStatus::kSucceeded);
+  ASSERT_NE(result.velocity(), nullptr);
+  EXPECT_DOUBLE_EQ(result.velocity()->angular.z, 0.0);
+}
+
+TEST(GoalSemantics, UnsetAngleUsesFullRotationDefault)
+{
+  PluginFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  auto* rotate = fixture.behavior("rotate");
+  ASSERT_NE(rotate, nullptr);
+
+  RecoveryGoal goal;  // angle không đặt
+
+  ASSERT_TRUE(rotate->start(goal, robot::Time(1000.0)));
+  const auto result = rotate->update(robot::Time(1000.1));
+
+  ASSERT_EQ(result.status, RecoveryStatus::kRunning);
+  EXPECT_NEAR(result.remaining, kTwoPi, 1e-3);
+}
+
+TEST(GoalSemantics, TinyAngleIsRespectedNotReplaced)
+{
+  PluginFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  auto* rotate = fixture.behavior("rotate");
+  ASSERT_NE(rotate, nullptr);
+
+  RecoveryGoal goal;
+  goal.angle = 0.05;  // nhỏ nhưng khác 0
+
+  ASSERT_TRUE(rotate->start(goal, robot::Time(1000.0)));
+  const auto result = rotate->update(robot::Time(1000.1));
+
+  ASSERT_EQ(result.status, RecoveryStatus::kRunning);
+  EXPECT_NEAR(result.remaining, 0.05, 1e-3);
+}
+
+TEST(GoalSemantics, NegativeAngleRotatesClockwise)
+{
+  PluginFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  auto* rotate = fixture.behavior("rotate");
+  ASSERT_NE(rotate, nullptr);
+
+  RecoveryGoal goal;
+  goal.angle = -1.0;
+
+  ASSERT_TRUE(rotate->start(goal, robot::Time(1000.0)));
+  fixture.rig.clock.advance(0.1);
+  const auto result = rotate->update(fixture.rig.clock.now());
+
+  ASSERT_NE(result.velocity(), nullptr);
+  EXPECT_LT(result.velocity()->angular.z, 0.0);
+}
+
+TEST(GoalSemantics, AngleBeyondTwoPiIsClamped)
+{
+  PluginFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  auto* rotate = fixture.behavior("rotate");
+  ASSERT_NE(rotate, nullptr);
+
+  RecoveryGoal goal;
+  goal.angle = 100.0;  // ~16 vòng — bản cũ nhận nguyên
+
+  ASSERT_TRUE(rotate->start(goal, robot::Time(1000.0)));
+  const auto result = rotate->update(robot::Time(1000.1));
+
+  ASSERT_EQ(result.status, RecoveryStatus::kRunning);
+  EXPECT_NEAR(result.remaining, kTwoPi, 1e-3);
+}
+
+TEST(GoalSemantics, UnsetDistanceUsesConfiguredDefault)
+{
+  PluginFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  auto* back_up = fixture.behavior("back_up");
+  ASSERT_NE(back_up, nullptr);
+
+  RecoveryGoal goal;  // distance không đặt -> backup_distance: 0.28 trong config test
+
+  ASSERT_TRUE(back_up->start(goal, robot::Time(1000.0)));
+  const auto result = back_up->update(robot::Time(1000.1));
+
+  ASSERT_EQ(result.status, RecoveryStatus::kRunning);
+  EXPECT_NEAR(result.remaining, 0.28, 1e-3);
+}
+
+TEST(GoalSemantics, DistanceBeyondMaxIsClamped)
+{
+  PluginFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  auto* back_up = fixture.behavior("back_up");
+  ASSERT_NE(back_up, nullptr);
+
+  RecoveryGoal goal;
+  goal.distance = 50.0;  // backup_distance_max: 1.0
+
+  ASSERT_TRUE(back_up->start(goal, robot::Time(1000.0)));
+  const auto result = back_up->update(robot::Time(1000.1));
+
+  ASSERT_EQ(result.status, RecoveryStatus::kRunning);
+  EXPECT_NEAR(result.remaining, 1.0, 1e-3);
+}
+
+TEST(GoalSemantics, NonPositiveDistanceIsRejectedByBase)
+{
+  PluginFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  auto* back_up = fixture.behavior("back_up");
+  ASSERT_NE(back_up, nullptr);
+
+  RecoveryGoal goal;
+  goal.distance = -0.1;
+
+  // distance có giá trị thì phải > 0. Base bắt trước khi plugin nhìn thấy goal.
+  EXPECT_FALSE(back_up->start(goal, robot::Time(1000.0)));
+}
+
+TEST(GoalSemantics, NonFiniteGoalIsRejectedByBase)
+{
+  PluginFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  auto* rotate = fixture.behavior("rotate");
+  ASSERT_NE(rotate, nullptr);
+
+  RecoveryGoal nan_angle;
+  nan_angle.angle = std::numeric_limits<double>::quiet_NaN();
+  EXPECT_FALSE(rotate->start(nan_angle, robot::Time(1000.0)));
+
+  RecoveryGoal nan_param;
+  nan_param.params["angular_speed"] = std::numeric_limits<double>::infinity();
+  EXPECT_FALSE(rotate->start(nan_param, robot::Time(1000.0)));
+}
+
+TEST(GoalSemantics, PerRunSpeedOverrideIsApplied)
+{
+  PluginFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  auto* rotate = fixture.behavior("rotate");
+  ASSERT_NE(rotate, nullptr);
+
+  RecoveryGoal goal;
+  goal.angle = kTwoPi;
+  goal.params["angular_speed"] = 0.2;
+
+  ASSERT_TRUE(rotate->start(goal, robot::Time(1000.0)));
+
+  // Đi đủ lâu để ramp gia tốc đạt trần tốc độ yêu cầu.
+  robot::Time now(1000.0);
+  double commanded = 0.0;
+  for (int i = 0; i < 20; ++i)
+  {
+    now = robot::Time(now.toSec() + 0.1);
+    const auto result = rotate->update(now);
+    ASSERT_NE(result.velocity(), nullptr);
+    commanded = result.velocity()->angular.z;
+    fixture.rig.applyCommand(result.command, 0.1);
+  }
+
+  EXPECT_NEAR(commanded, 0.2, 1e-6);
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+#ifdef RECOVERY_CORE_TEST_CONFIG_DIR
+  setenv("PNKX_NAV_CORE_CONFIG_DIR", RECOVERY_CORE_TEST_CONFIG_DIR, 0);
+#endif
+#ifdef RECOVERY_CORE_TEST_LIBRARY_DIR
+  setenv("PNKX_NAV_CORE_LIBRARY_PATH", RECOVERY_CORE_TEST_LIBRARY_DIR, 0);
+#endif
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

test/output_kind_test.cpp

@@ -0,0 +1,190 @@
+/*********************************************************************
+ *
+ * Kiểm base CƯỠNG CHẾ bất biến họ output.
+ *
+ * Bản trước để plugin tự đặt `output_type` mỗi tick, nên nó không dùng được để route: một plugin họ
+ * path trả `kVelocity` ở tick đầu, còn base thì tự sinh `Velocity(zero)` cho mọi họ ở nhánh
+ * terminal. Test này khoá lại hành vi đúng.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <cstdlib>
+#include <limits>
+
+#include <robot/node_handle.h>
+
+#include "recovery_test_utils.h"
+
+namespace
+{
+using recovery_core::RecoveryGoal;
+using recovery_core::RecoveryOutputType;
+using recovery_core::RecoveryStatus;
+using recovery_test::MockBehavior;
+using recovery_test::VelocityRig;
+
+/// Dựng một MockBehavior đã configure + start, sẵn sàng nhận update().
+struct Fixture
+{
+  explicit Fixture(RecoveryOutputType kind) : behavior(kind)
+  {
+    ctx = rig.ctx;
+    EXPECT_TRUE(behavior.configure("mock", ctx, nh));
+    EXPECT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+  }
+
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  MockBehavior behavior;
+};
+
+TEST(OutputKind, NoneFamilyNeverReportsVelocity)
+{
+  Fixture fixture(RecoveryOutputType::kNone);
+
+  // Plugin cố tình trả output vận tốc dù nó khai họ kNone.
+  robot_geometry_msgs::Twist rogue;
+  rogue.linear.x = 0.5;
+  fixture.behavior.next_result =
+      recovery_core::RecoveryResult::Velocity(rogue, RecoveryStatus::kRunning);
+
+  const auto result = fixture.behavior.update(robot::Time(1000.1));
+
+  EXPECT_EQ(result.output_type, RecoveryOutputType::kNone);
+  EXPECT_EQ(result.velocity(), nullptr);
+  // Quan trọng nhất: giá trị rogue không được rò ra ngoài dưới bất kỳ dạng nào.
+  EXPECT_DOUBLE_EQ(result.command.linear.x, 0.0);
+}
+
+TEST(OutputKind, PathFamilyNeverReportsVelocity)
+{
+  Fixture fixture(RecoveryOutputType::kPath);
+
+  robot_geometry_msgs::Twist rogue;
+  rogue.angular.z = 1.0;
+  fixture.behavior.next_result =
+      recovery_core::RecoveryResult::Velocity(rogue, RecoveryStatus::kRunning);
+
+  const auto result = fixture.behavior.update(robot::Time(1000.1));
+
+  EXPECT_EQ(result.output_type, RecoveryOutputType::kNone);
+  EXPECT_EQ(result.velocity(), nullptr);
+  EXPECT_EQ(result.pathOut(), nullptr);
+}
+
+TEST(OutputKind, VelocityFamilyNeverReportsPath)
+{
+  Fixture fixture(RecoveryOutputType::kVelocity);
+
+  robot_nav_msgs::Path rogue;
+  rogue.poses.resize(2);
+  fixture.behavior.next_result =
+      recovery_core::RecoveryResult::PathOut(rogue, RecoveryStatus::kRunning);
+
+  const auto result = fixture.behavior.update(robot::Time(1000.1));
+
+  EXPECT_EQ(result.output_type, RecoveryOutputType::kNone);
+  EXPECT_EQ(result.pathOut(), nullptr);
+  EXPECT_TRUE(result.path.poses.empty());
+}
+
+TEST(OutputKind, MatchingKindPassesThrough)
+{
+  Fixture fixture(RecoveryOutputType::kVelocity);
+
+  robot_geometry_msgs::Twist cmd;
+  cmd.linear.x = -0.1;
+  fixture.behavior.next_result =
+      recovery_core::RecoveryResult::Velocity(cmd, RecoveryStatus::kRunning);
+
+  const auto result = fixture.behavior.update(robot::Time(1000.1));
+
+  ASSERT_NE(result.velocity(), nullptr);
+  EXPECT_DOUBLE_EQ(result.velocity()->linear.x, -0.1);
+}
+
+TEST(OutputKind, NoneIsAlwaysAllowed)
+{
+  // Một behavior họ velocity vẫn được phép nói "tick này không có output".
+  Fixture fixture(RecoveryOutputType::kVelocity);
+  fixture.behavior.next_result = recovery_core::RecoveryResult::Running();
+
+  const auto result = fixture.behavior.update(robot::Time(1000.1));
+
+  EXPECT_EQ(result.output_type, RecoveryOutputType::kNone);
+  EXPECT_EQ(result.status, RecoveryStatus::kRunning);
+}
+
+TEST(OutputKind, TerminalStopOutputMatchesFamily)
+{
+  {
+    Fixture none_family(RecoveryOutputType::kNone);
+    none_family.behavior.next_result = recovery_core::RecoveryResult::Succeeded();
+    ASSERT_EQ(none_family.behavior.update(robot::Time(1000.1)).status, RecoveryStatus::kSucceeded);
+
+    // Tick sau khi đã kết thúc: họ kNone KHÔNG được báo cáo mình phát vận tốc.
+    const auto after = none_family.behavior.update(robot::Time(1000.2));
+    EXPECT_EQ(after.output_type, RecoveryOutputType::kNone);
+  }
+  {
+    Fixture velocity_family(RecoveryOutputType::kVelocity);
+    velocity_family.behavior.next_result = recovery_core::RecoveryResult::Succeeded();
+    ASSERT_EQ(velocity_family.behavior.update(robot::Time(1000.1)).status,
+              RecoveryStatus::kSucceeded);
+
+    // Họ velocity thì ngược lại: phải có lệnh dừng tường minh để caller publish.
+    const auto after = velocity_family.behavior.update(robot::Time(1000.2));
+    ASSERT_NE(after.velocity(), nullptr);
+    EXPECT_DOUBLE_EQ(after.velocity()->linear.x, 0.0);
+    EXPECT_DOUBLE_EQ(after.velocity()->angular.z, 0.0);
+  }
+}
+
+TEST(OutputKind, NonFiniteVelocityIsForcedToStop)
+{
+  Fixture fixture(RecoveryOutputType::kVelocity);
+
+  robot_geometry_msgs::Twist bad;
+  bad.linear.x = std::numeric_limits<double>::quiet_NaN();
+  fixture.behavior.next_result =
+      recovery_core::RecoveryResult::Velocity(bad, RecoveryStatus::kRunning);
+
+  const auto result = fixture.behavior.update(robot::Time(1000.1));
+
+  // NaN lọt ra cmd_vel là không được phép đi tiếp.
+  EXPECT_EQ(result.status, RecoveryStatus::kFailed);
+  ASSERT_NE(result.velocity(), nullptr);
+  EXPECT_TRUE(std::isfinite(result.velocity()->linear.x));
+  EXPECT_DOUBLE_EQ(result.velocity()->linear.x, 0.0);
+}
+
+TEST(OutputKind, InfiniteAngularVelocityIsForcedToStop)
+{
+  Fixture fixture(RecoveryOutputType::kVelocity);
+
+  robot_geometry_msgs::Twist bad;
+  bad.angular.z = std::numeric_limits<double>::infinity();
+  fixture.behavior.next_result =
+      recovery_core::RecoveryResult::Velocity(bad, RecoveryStatus::kRunning);
+
+  const auto result = fixture.behavior.update(robot::Time(1000.1));
+
+  EXPECT_EQ(result.status, RecoveryStatus::kFailed);
+  ASSERT_NE(result.velocity(), nullptr);
+  EXPECT_DOUBLE_EQ(result.velocity()->angular.z, 0.0);
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+#ifdef RECOVERY_CORE_TEST_CONFIG_DIR
+  setenv("PNKX_NAV_CORE_CONFIG_DIR", RECOVERY_CORE_TEST_CONFIG_DIR, 0);
+#endif
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

test/plugin_loader_contract_test.cpp

@@ -1,288 +0,0 @@
-/*********************************************************************
- *
- * Software License Agreement (BSD License)
- *
- * recovery_core — Boost.DLL plugin contract test.
- *
- * Author: DuongTD
- *********************************************************************/
-
-#include <recovery_core/recovery_behavior.h>
-
-#include <cmath>
-#include <cstdlib>
-#include <iostream>
-#include <string>
-#include <vector>
-#include <robot/robot.h>
-#include <robot_xmlrpcpp/XmlRpcValue.h>
-
-#include <boost/dll/import.hpp>
-#include <boost/dll/shared_library.hpp>
-#include <boost/filesystem/path.hpp>
-
-namespace
-{
-using Factory = recovery_core::RecoveryBehavior::RecoveryBehaviorPtr();
-
-struct PluginConfig
-{
-    std::string name;
-    std::string type;
-};
-std::vector<boost::dll::shared_library> libraries_;
-std::vector<recovery_core::RecoveryBehavior::RecoveryBehaviorPtr> creators_;
-std::vector<std::string> name_plugins_;
-
-std::vector<robot_geometry_msgs::PoseStamped> global_path_;
-
-void expect(bool condition, const std::string& message)
-{
-  if (!condition)
-  {
-    std::cerr << "[FAIL] " << message << std::endl;
-    std::exit(1);
-  }
-}
-
-std::vector<PluginConfig> getListRecoveryPlugins()
-{
-
-std::vector<PluginConfig> my_list;
-
-robot::NodeHandle priv_nh;
-
-if (priv_nh.hasParam("recovery_behaviors"))
-{
-    YAML::Node my_plugins = priv_nh.getParamValue("recovery_behaviors");
-
-    if (my_plugins.IsDefined() && my_plugins.IsSequence())
-    {
-       std::set<std::string> name_plugins;
-        for (std::size_t i = 0; i < my_plugins.size(); ++i)
-        {
-            YAML::Node plugin_i = my_plugins[i];
-
-            // 1. Phải là map
-            if (!plugin_i.IsMap())
-            {
-                std::cerr<< "Recovery plugin at index " << i << " must be a map." << std::endl;
-                continue;
-            }
-
-            // 2. Phải có name và type
-            if (!plugin_i["name"].IsDefined() || !plugin_i["type"].IsDefined())
-            {
-                std::cerr << "Recovery plugin at index " << i << " must have 'name' and 'type'." << std::endl;
-                continue;
-            }
-
-            PluginConfig p;
-
-            try
-            {
-                p.name = plugin_i["name"].as<std::string>();
-                p.type = plugin_i["type"].as<std::string>();
-            }
-            catch (const YAML::Exception& e)
-            {
-                std::cerr << "Invalid recovery plugin at index " << i << ": " << e.what() << std::endl;
-                continue;
-            }
-
-            // 3. Kiểm tra duplicate name
-            const auto result = name_plugins.insert(p.name);
-
-            if (!result.second)
-            {
-                std::cerr << "A recovery plugin with name '" << p.name << "' already exists." << std::endl;
-                continue;
-            }
-
-            // 4. Chỉ thêm sau khi validate hoàn toàn
-            my_list.push_back(p);
-            name_plugins_.push_back(p.name);
-
-            robot::log_warning("Load plugin: name: %s, type: %s", p.name.c_str(), p.type.c_str());
-        }
-    }
-    else
-    {
-        std::cerr << "'recovery_behaviors' must be a sequence." << std::endl;
-    }
-}
-
-return my_list;
-}
-
-void testLoadPlugins()
-{
-       std::vector<PluginConfig> my_list_plugin = getListRecoveryPlugins();
-       if(my_list_plugin.empty())
-       {
-              robot::log_error("No recovery plugins found in configuration.");
-              return;
-       }
-       for(const auto& plugin : my_list_plugin)
-       {
-              robot::PluginLoaderHelper loader;
-              std::string path_file_so = loader.findLibraryPath(plugin.type);
-              if(path_file_so == "")
-              {
-                     robot::log_error("Cannot find library for recovery behavior type '%s'", plugin.type.c_str());
-                     return;
-              }
-              robot::log_info("Loading recovery behavior type '%s' from '%s'", plugin.type.c_str(), path_file_so.c_str());
-              try
-              {
-                     // 1. Load library vào local handle.
-                     boost::dll::shared_library library(path_file_so);
-
-                     // 2. Lấy factory alias.
-                     auto& factory = library.get_alias<Factory>(plugin.type);
-
-                     // 3. Factory tạo behavior object.
-                     recovery_core::RecoveryBehavior::RecoveryBehaviorPtr behavior = factory();
-
-                     if (!behavior)
-                     {
-                            robot::log_error("Factory returned nullptr for '%s'", plugin.type.c_str());
-                            return;
-                     }
-
-                     // 4. Chuyển quyền giữ library vào storage sống lâu dài.
-                     libraries_.push_back(std::move(library));
-                     recovery_core::RecoveryContext ctx;
-                     ctx.global_path = &global_path_;
-                     behavior->configure(plugin.name, ctx);
-                     creators_.push_back(behavior);
-              }
-              catch (const std::exception& e)
-              {
-                     robot::log_error("Failed to load recovery behavior '%s': %s", plugin.type.c_str(), e.what());
-                     return;
-              }
-       //     expect(static_cast<bool>(behavior), "Failed to load plugin: " + plugin.name + " of type: " + plugin.type);
-       }
-}
-
-void testRotatePlugin()
-{
-for(const auto& behavior : creators_)
- {
-     if(behavior->getNameRecoveryBehavior() == "rotation_rc")
-     {
-         // Caller đặt góc quay RUNTIME = pi/2 (90 độ) cho lượt này.
-         recovery_core::RecoveryGoal goal;
-         goal.angle = 1.57079632679;
-
-         const recovery_core::RecoveryResult started = behavior->start(goal);
-         
-         expect(started.status == recovery_core::RecoveryStatus::kRunning,
-                "rotate must be running right after start");
-
-         const recovery_core::RecoveryResult first = behavior->update();
-         expect(first.status == recovery_core::RecoveryStatus::kRunning,
-                "rotate first cycle must be running");
-         expect(first.output_type == recovery_core::RecoveryOutputType::kVelocity,
-                "rotate must return velocity output");
-         expect(first.command.angular.z > 0.0, "rotate must command positive angular.z for +angle");
-         expect(first.progress >= 0.0 && first.progress < 1.0,
-                "rotate progress must advance within [0,1)");
-         expect(first.remaining > 0.0, "rotate must report remaining angle while running");
-
-         recovery_core::RecoveryResult last = first;
-         for (int i = 0; i < 100 && last.status == recovery_core::RecoveryStatus::kRunning; ++i)
-         {
-           last = behavior->update();
-         }
-
-         expect(last.status == recovery_core::RecoveryStatus::kSucceeded,
-                "rotate must finish within bounded cycles");
-         expect(last.output_type == recovery_core::RecoveryOutputType::kVelocity,
-                "rotate final result must still be a velocity output");
-         expect(std::abs(last.command.angular.z) < 1e-9,
-                "rotate must return a zero angular command when complete");
-         expect(std::abs(last.progress - 1.0) < 1e-9, "rotate must report full progress on success");
-         expect(last.remaining < 1e-9, "rotate must report zero remaining on success");
-     }
- }
-}
-
-void testBackupPlugin()
-{
-for(const auto& behavior : creators_)
- {
-     if(behavior->getNameRecoveryBehavior() == "backward_rc")
-     {
-         // Caller đặt khoảng lùi RUNTIME = 0.3 m cho lượt này.
-         recovery_core::RecoveryGoal goal;
-         goal.distance = 0.3;
-
-         behavior->start(goal);
-         const recovery_core::RecoveryResult first = behavior->update();
-         expect(first.status == recovery_core::RecoveryStatus::kRunning,
-                "backup first cycle must be running");
-         expect(first.command.linear.x < 0.0, "backup must command negative linear.x");
-
-         recovery_core::RecoveryResult last = first;
-         for (int i = 0; i < 1000 && last.status == recovery_core::RecoveryStatus::kRunning; ++i)
-         {
-           last = behavior->update();
-         }
-
-         expect(last.status == recovery_core::RecoveryStatus::kSucceeded,
-                "backup must finish within bounded cycles");
-         expect(std::abs(last.command.linear.x) < 1e-9,
-                "backup must return a zero command when complete");
-         expect(std::abs(last.progress - 1.0) < 1e-9, "backup must report full progress on success");
-     }
- }
-}
-
-void testRegenPathPlugin()
-{
-robot_geometry_msgs::PoseStamped pose1;
-pose1.pose.position.x = 1.0;
-robot_geometry_msgs::PoseStamped pose2;
-pose2.pose.position.x = 2.0;
-global_path_.push_back(pose1);
-global_path_.push_back(pose2);
-
-
- for(const auto& behavior : creators_)
- {
-     if(behavior->getNameRecoveryBehavior() == "regen_path_rc")
-     {
-         behavior->start(recovery_core::RecoveryGoal());
-         const recovery_core::RecoveryResult result = behavior->update();
-
-         expect(result.status == recovery_core::RecoveryStatus::kSucceeded,
-                "regen path must succeed with a non-empty global path");
-         expect(result.output_type == recovery_core::RecoveryOutputType::kPath,
-                "regen path must return path output");
-         expect(result.path.poses.size() == global_path_.size(),
-                "regen path must preserve the global path size");
-       global_path_ = result.path.poses;
-     }
- }
-}
-
-}  // namespace
-
-int main()
-{
-  testLoadPlugins();
-  if(creators_.empty()) return 0;
-//   for(auto& behavior : creators_)
-//   {
-//     std::cout<<behavior->getNameRecoveryBehavior()<<std::endl;
-//   }
-
-  testRegenPathPlugin();
-  testRotatePlugin();
-  testBackupPlugin();
-
-  std::cout << "[PASS] recovery_core plugin loader contract" << std::endl;
-  return 0;
-}

test/pose_progress_test.cpp

@@ -0,0 +1,188 @@
+/*********************************************************************
+ *
+ * Kiểm tiến độ đo bằng POSE THẬT, không dead-reckon theo chu kỳ cấu hình.
+ *
+ * Đây là test cho lỗi nặng nhất của bản trước: quãng đi được tính bằng
+ * `|cmd.linear.x| * control_period` với `control_period` lấy từ YAML. Control loop chạy chậm gấp N
+ * lần là robot đi quá quãng gấp N lần, còn bánh trượt thì vẫn báo hoàn thành.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <cstdlib>
+
+#include <robot/node_handle.h>
+
+#include <recovery_core/recovery_registry.h>
+
+#include "recovery_test_utils.h"
+
+namespace
+{
+using recovery_core::RecoveryGoal;
+using recovery_core::RecoveryStatus;
+using recovery_test::VelocityRig;
+
+constexpr double kConfiguredDistance = 0.28;  // [m] khớp `recovery/back_up/backup_distance`
+
+struct BackUpFixture
+{
+  BackUpFixture()
+  {
+    rig.pose.setPose(0.0, 0.0, 0.0);
+    loaded = registry.loadFromConfig(nh, "recovery", rig.ctx);
+    back_up = recovery_test::findBehavior(registry, "back_up");
+  }
+
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+  bool loaded = false;
+  recovery_core::RecoveryBehavior* back_up = nullptr;
+};
+
+/**
+ * @brief Chạy trọn một lượt lùi với chu kỳ @p dt, mô phỏng robot đi đúng lệnh phát ra.
+ * @return quãng đường thực tế robot đã lùi [m].
+ */
+double runBackup(BackUpFixture& fixture, double dt, int max_ticks = 2000)
+{
+  EXPECT_TRUE(fixture.back_up->start(RecoveryGoal(), robot::Time(1000.0)));
+
+  robot::Time now(1000.0);
+  for (int i = 0; i < max_ticks; ++i)
+  {
+    now = robot::Time(now.toSec() + dt);
+    const auto result = fixture.back_up->update(now);
+    if (result.terminal())
+    {
+      EXPECT_EQ(result.status, RecoveryStatus::kSucceeded);
+      break;
+    }
+    fixture.rig.applyCommand(result.command, dt);
+  }
+
+  return -fixture.rig.pose.rawPose().x;  // lùi theo -x
+}
+
+TEST(PoseProgress, NominalRateStopsAtRequestedDistance)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  const double traveled = runBackup(fixture, 0.1);
+
+  EXPECT_NEAR(traveled, kConfiguredDistance, 0.05 * kConfiguredDistance);
+}
+
+TEST(PoseProgress, FiveTimesSlowerLoopStillStopsAtRequestedDistance)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  // Control loop chạy chậm gấp 5. Bản cũ sai ~400% ở đây vì nhân với hằng số config.
+  const double traveled = runBackup(fixture, 0.5);
+
+  EXPECT_NEAR(traveled, kConfiguredDistance, 0.05 * kConfiguredDistance);
+}
+
+TEST(PoseProgress, TwentyTimesSlowerLoopStillStopsAtRequestedDistance)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  const double traveled = runBackup(fixture, 2.0);
+
+  EXPECT_NEAR(traveled, kConfiguredDistance, 0.05 * kConfiguredDistance);
+}
+
+TEST(PoseProgress, FasterLoopStopsAtRequestedDistance)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  const double traveled = runBackup(fixture, 0.02);
+
+  EXPECT_NEAR(traveled, kConfiguredDistance, 0.05 * kConfiguredDistance);
+}
+
+TEST(PoseProgress, StalledRobotNeverReportsSuccess)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  ASSERT_TRUE(fixture.back_up->start(RecoveryGoal(), robot::Time(1000.0)));
+
+  // Bánh trượt hoàn toàn: lệnh vẫn phát nhưng pose không đổi. Bản cũ tích phân vận tốc LỆNH nên vẫn
+  // báo kSucceeded; bản này phải chạy tới khi timeout chứ không được nói dối.
+  robot::Time now(1000.0);
+  bool reported_success = false;
+  for (int i = 0; i < 200; ++i)
+  {
+    now = robot::Time(now.toSec() + 0.1);
+    const auto result = fixture.back_up->update(now);
+    if (result.status == RecoveryStatus::kSucceeded)
+    {
+      reported_success = true;
+      break;
+    }
+    if (result.terminal())
+    {
+      break;  // timeout -> kFailed, đúng như mong đợi
+    }
+    // KHÔNG applyCommand: robot không nhúc nhích.
+  }
+
+  EXPECT_FALSE(reported_success);
+}
+
+TEST(PoseProgress, ProgressAndRemainingTrackRealPose)
+{
+  BackUpFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.back_up, nullptr);
+
+  ASSERT_TRUE(fixture.back_up->start(RecoveryGoal(), robot::Time(1000.0)));
+
+  robot::Time now(1000.0);
+  double last_progress = -1.0;
+  for (int i = 0; i < 10; ++i)
+  {
+    now = robot::Time(now.toSec() + 0.1);
+    const auto result = fixture.back_up->update(now);
+    if (result.terminal())
+    {
+      break;
+    }
+
+    const double traveled = -fixture.rig.pose.rawPose().x;
+    EXPECT_NEAR(result.remaining, kConfiguredDistance - traveled, 1e-6);
+    EXPECT_GE(result.progress, last_progress);
+    EXPECT_GE(result.progress, 0.0);
+    EXPECT_LE(result.progress, 1.0);
+    last_progress = result.progress;
+
+    fixture.rig.applyCommand(result.command, 0.1);
+  }
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+#ifdef RECOVERY_CORE_TEST_CONFIG_DIR
+  setenv("PNKX_NAV_CORE_CONFIG_DIR", RECOVERY_CORE_TEST_CONFIG_DIR, 0);
+#endif
+#ifdef RECOVERY_CORE_TEST_LIBRARY_DIR
+  setenv("PNKX_NAV_CORE_LIBRARY_PATH", RECOVERY_CORE_TEST_LIBRARY_DIR, 0);
+#endif
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

test/recovery_lifecycle_test.cpp

@@ -0,0 +1,280 @@
+/*********************************************************************
+ *
+ * Kiểm bất biến vòng đời của RecoveryBehavior: guard configure/start/update, kiểm ngữ cảnh bắt
+ * buộc theo họ output, dt đo bằng đồng hồ thật, và đường cancel.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <gtest/gtest.h>
+
+#include <cstdlib>
+
+#include <robot/node_handle.h>
+
+#include "recovery_test_utils.h"
+
+namespace
+{
+using recovery_core::RecoveryGoal;
+using recovery_core::RecoveryOutputType;
+using recovery_core::RecoveryStatus;
+using recovery_test::MockBehavior;
+using recovery_test::VelocityRig;
+
+TEST(RecoveryLifecycle, StartBeforeConfigureFails)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  const robot::Time now(1000.0);
+
+  EXPECT_FALSE(behavior.start(RecoveryGoal(), now));
+  EXPECT_EQ(behavior.start_calls, 0);
+}
+
+TEST(RecoveryLifecycle, UpdateBeforeStartReturnsFailedStopOutput)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  const robot::Time now(1000.0);
+
+  const auto result = behavior.update(now);
+
+  EXPECT_EQ(result.status, RecoveryStatus::kFailed);
+  EXPECT_EQ(result.output_type, RecoveryOutputType::kNone);
+  EXPECT_EQ(behavior.update_calls, 0);
+}
+
+TEST(RecoveryLifecycle, ConfigureTwiceRejected)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+
+  EXPECT_TRUE(behavior.configure("mock", ctx, nh));
+  // Gọi lần hai với ctx khác là lỗi lập trình của caller — phải báo, không được nuốt.
+  EXPECT_FALSE(behavior.configure("mock", ctx, nh));
+  EXPECT_EQ(behavior.configure_calls, 1);
+}
+
+TEST(RecoveryLifecycle, EmptyInstanceNameRejected)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+
+  EXPECT_FALSE(behavior.configure("", ctx, nh));
+  EXPECT_EQ(behavior.configure_calls, 0);
+}
+
+TEST(RecoveryLifecycle, VelocityFamilyRequiresPoseProvider)
+{
+  VelocityRig rig;
+  MockBehavior behavior(RecoveryOutputType::kVelocity);
+  robot::NodeHandle nh;
+
+  recovery_core::RecoveryContext ctx = rig.ctx;
+  ctx.pose = nullptr;
+
+  // Không có pose thì tiến độ chỉ có thể dead-reckon — đúng lớp lỗi Phase 3 phải diệt.
+  EXPECT_FALSE(behavior.configure("mock", ctx, nh));
+}
+
+TEST(RecoveryLifecycle, VelocityFamilyRequiresCollisionChecker)
+{
+  VelocityRig rig;
+  MockBehavior behavior(RecoveryOutputType::kVelocity);
+  robot::NodeHandle nh;
+
+  recovery_core::RecoveryContext ctx = rig.ctx;
+  ctx.collision = nullptr;
+
+  EXPECT_FALSE(behavior.configure("mock", ctx, nh));
+}
+
+TEST(RecoveryLifecycle, PathFamilyRequiresPlanProvider)
+{
+  MockBehavior behavior(RecoveryOutputType::kPath);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+
+  EXPECT_FALSE(behavior.configure("mock", ctx, nh));
+}
+
+TEST(RecoveryLifecycle, NoneFamilyNeedsNoPorts)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+
+  EXPECT_TRUE(behavior.configure("mock", ctx, nh));
+}
+
+TEST(RecoveryLifecycle, ConfigureFailsWhenPluginRejects)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  behavior.configure_ok = false;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+
+  EXPECT_FALSE(behavior.configure("mock", ctx, nh));
+  // Không được coi là đã cấu hình: start() sau đó phải hỏng.
+  EXPECT_FALSE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+}
+
+TEST(RecoveryLifecycle, StartRejectedWhenPluginRefuses)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  behavior.start_ok = false;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+
+  EXPECT_FALSE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+  EXPECT_EQ(behavior.status(), RecoveryStatus::kFailed);
+}
+
+TEST(RecoveryLifecycle, TerminalStateDoesNotTickAgain)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+
+  behavior.next_result = recovery_core::RecoveryResult::Succeeded();
+  ASSERT_EQ(behavior.update(robot::Time(1000.1)).status, RecoveryStatus::kSucceeded);
+  const int calls_after_success = behavior.update_calls;
+
+  const auto again = behavior.update(robot::Time(1000.2));
+  EXPECT_EQ(again.status, RecoveryStatus::kSucceeded);
+  EXPECT_EQ(behavior.update_calls, calls_after_success);  // không gọi thêm onUpdate
+}
+
+TEST(RecoveryLifecycle, CancelYieldsCancelledStopOutput)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+
+  behavior.cancel();
+  const auto result = behavior.update(robot::Time(1000.1));
+
+  EXPECT_EQ(result.status, RecoveryStatus::kCancelled);
+  EXPECT_EQ(behavior.cancel_calls, 1);
+  EXPECT_EQ(behavior.update_calls, 0);  // cancel thay thế tick, không chạy logic plugin
+}
+
+TEST(RecoveryLifecycle, CancelOnVelocityFamilyEmitsExplicitZeroTwist)
+{
+  VelocityRig rig;
+  MockBehavior behavior(RecoveryOutputType::kVelocity);
+  robot::NodeHandle nh;
+  ASSERT_TRUE(behavior.configure("mock", rig.ctx, nh));
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+
+  behavior.cancel();
+  const auto result = behavior.update(robot::Time(1000.1));
+
+  // Họ velocity phải nhận lệnh dừng TƯỜNG MINH: caller đang lấy cmd_vel từ đây.
+  ASSERT_NE(result.velocity(), nullptr);
+  EXPECT_DOUBLE_EQ(result.velocity()->linear.x, 0.0);
+  EXPECT_DOUBLE_EQ(result.velocity()->angular.z, 0.0);
+}
+
+TEST(RecoveryLifecycle, DtMeasuredFromRealClockNotConfiguredPeriod)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+
+  behavior.update(robot::Time(1000.0));
+  EXPECT_NEAR(behavior.last_dt, 0.0, 1e-9);  // tick đầu ngay sau start
+
+  behavior.update(robot::Time(1000.5));
+  EXPECT_NEAR(behavior.last_dt, 0.5, 1e-6);
+
+  behavior.update(robot::Time(1002.5));
+  EXPECT_NEAR(behavior.last_dt, 2.0, 1e-6);  // loop chạy chậm -> dt lớn, không phải hằng số config
+}
+
+TEST(RecoveryLifecycle, BackwardClockYieldsZeroDt)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+
+  behavior.update(robot::Time(1001.0));
+  behavior.update(robot::Time(1000.5));  // đồng hồ đi lùi
+
+  EXPECT_NEAR(behavior.last_dt, 0.0, 1e-9);
+}
+
+TEST(RecoveryLifecycle, ElapsedTracksClockFromStart)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+
+  const auto first = behavior.update(robot::Time(1001.25));
+  EXPECT_NEAR(first.elapsed, 1.25, 1e-6);
+  EXPECT_NEAR(behavior.elapsed(), 1.25, 1e-6);
+
+  const auto second = behavior.update(robot::Time(1004.0));
+  EXPECT_NEAR(second.elapsed, 4.0, 1e-6);
+}
+
+TEST(RecoveryLifecycle, RestartResetsElapsed)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+  behavior.update(robot::Time(1005.0));
+  ASSERT_NEAR(behavior.elapsed(), 5.0, 1e-6);
+
+  behavior.next_result = recovery_core::RecoveryResult::Running();
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(2000.0)));
+  EXPECT_NEAR(behavior.elapsed(), 0.0, 1e-9);
+
+  const auto result = behavior.update(robot::Time(2000.5));
+  EXPECT_NEAR(result.elapsed, 0.5, 1e-6);
+}
+
+TEST(RecoveryLifecycle, GoalIsHandedToPluginVerbatim)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+
+  RecoveryGoal goal;
+  goal.trigger = recovery_core::RecoveryTrigger::kOscillation;
+  goal.angle = 1.5;
+  goal.params["custom"] = 7.0;
+
+  ASSERT_TRUE(behavior.start(goal, robot::Time(1000.0)));
+
+  EXPECT_EQ(behavior.last_goal.trigger, recovery_core::RecoveryTrigger::kOscillation);
+  ASSERT_TRUE(behavior.last_goal.angle.has_value());
+  EXPECT_DOUBLE_EQ(*behavior.last_goal.angle, 1.5);
+  EXPECT_DOUBLE_EQ(behavior.last_goal.param("custom", 0.0), 7.0);
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+#ifdef RECOVERY_CORE_TEST_CONFIG_DIR
+  setenv("PNKX_NAV_CORE_CONFIG_DIR", RECOVERY_CORE_TEST_CONFIG_DIR, 0);
+#endif
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

test/recovery_test_utils.h

@@ -0,0 +1,213 @@
+/*********************************************************************
+ *
+ * Software License Agreement (BSD License)
+ *
+ * recovery_core — tiện ích dùng chung cho test.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#ifndef RECOVERY_CORE_TEST_RECOVERY_TEST_UTILS_H_
+#define RECOVERY_CORE_TEST_RECOVERY_TEST_UTILS_H_
+
+#include <cmath>
+#include <string>
+#include <utility>
+#include <vector>
+
+#include <nav_test_harness/fake_clock.h>
+#include <nav_test_harness/fake_collision_checker.h>
+#include <nav_test_harness/fake_costmap.h>
+#include <nav_test_harness/fake_pose_provider.h>
+
+#include <recovery_core/recovery_behavior.h>
+#include <recovery_core/recovery_context.h>
+#include <recovery_core/recovery_math.h>
+#include <recovery_core/recovery_registry.h>
+
+namespace recovery_test
+{
+
+/// @brief Behavior trong @p registry mang tên @p name, hoặc nullptr.
+inline recovery_core::RecoveryBehavior* findBehavior(const recovery_core::RecoveryRegistry& registry,
+                                                     const std::string& name)
+{
+  for (std::size_t i = 0; i < registry.size(); ++i)
+  {
+    if (registry.nameAt(i) == name)
+    {
+      return registry.at(i);
+    }
+  }
+  return nullptr;
+}
+
+/**
+ * @brief Nối `nav_test_harness::FakePoseProvider` vào cổng của recovery_core.
+ *
+ * Hai interface cố ý tách nhau: `recovery_core` không được phụ thuộc gói test harness, và
+ * `nav_test_harness` phục vụ nhiều gói khác nhau. Adapter mỏng ở đây chính là thứ `RecoveryRunner`
+ * sẽ làm với `move_base2::PosePort` ở Phase 4.
+ */
+class HarnessPoseProvider final : public recovery_core::PoseProvider
+{
+public:
+  explicit HarnessPoseProvider(nav_test_harness::FakePoseProvider* fake) : fake_(fake)
+  {
+  }
+
+  bool getRobotPose(robot_geometry_msgs::PoseStamped& pose) const override
+  {
+    return fake_ != nullptr && fake_->getRobotPose(pose);
+  }
+
+private:
+  nav_test_harness::FakePoseProvider* fake_ = nullptr;
+};
+
+/// @brief Nối `nav_test_harness::FakeCollisionChecker` vào cổng của recovery_core.
+class HarnessCollisionChecker final : public recovery_core::CollisionChecker
+{
+public:
+  explicit HarnessCollisionChecker(nav_test_harness::FakeCollisionChecker* fake) : fake_(fake)
+  {
+  }
+
+  double footprintCost(double x, double y, double theta) const override
+  {
+    return fake_ == nullptr ? -1.0 : fake_->footprintCost(x, y, theta);
+  }
+
+private:
+  nav_test_harness::FakeCollisionChecker* fake_ = nullptr;
+};
+
+/// @brief Nguồn plan đơn giản do test bơm thẳng.
+class StubPlanProvider final : public recovery_core::PlanProvider
+{
+public:
+  void setPlan(std::vector<robot_geometry_msgs::PoseStamped> plan)
+  {
+    plan_ = std::move(plan);
+  }
+
+  bool getGlobalPlan(std::vector<robot_geometry_msgs::PoseStamped>& out) const override
+  {
+    if (plan_.empty())
+    {
+      return false;
+    }
+    out = plan_;
+    return true;
+  }
+
+private:
+  std::vector<robot_geometry_msgs::PoseStamped> plan_;
+};
+
+/**
+ * @brief Behavior giả, cho phép test điều khiển từng hook.
+ *
+ * Dùng để kiểm phần **base** (guard vòng đời, timeout, cưỡng chế họ output) mà không phụ thuộc vào
+ * hành vi của plugin thật.
+ */
+class MockBehavior final : public recovery_core::RecoveryBehavior
+{
+public:
+  explicit MockBehavior(recovery_core::RecoveryOutputType kind) : kind_(kind)
+  {
+    next_result = recovery_core::RecoveryResult::Running();
+  }
+
+  recovery_core::RecoveryOutputType outputKind() const override
+  {
+    return kind_;
+  }
+
+  // Núm điều khiển cho test.
+  bool configure_ok = true;
+  bool start_ok = true;
+  recovery_core::RecoveryResult next_result;
+
+  // Ghi nhận để assert.
+  int configure_calls = 0;
+  int start_calls = 0;
+  int update_calls = 0;
+  int cancel_calls = 0;
+  double last_dt = -1.0;
+  recovery_core::RecoveryGoal last_goal;
+
+protected:
+  bool onConfigure(robot::NodeHandle& /*nh*/) override
+  {
+    ++configure_calls;
+    return configure_ok;
+  }
+
+  bool onStart(const recovery_core::RecoveryGoal& goal) override
+  {
+    ++start_calls;
+    last_goal = goal;
+    return start_ok;
+  }
+
+  recovery_core::RecoveryResult onUpdate(const robot::Time& /*now*/, double dt) override
+  {
+    ++update_calls;
+    last_dt = dt;
+    return next_result;
+  }
+
+  recovery_core::RecoveryResult onCancel() override
+  {
+    ++cancel_calls;
+    return recovery_core::RecoveryBehavior::onCancel();
+  }
+
+private:
+  recovery_core::RecoveryOutputType kind_;
+};
+
+/**
+ * @brief Bộ đồ nghề đầy đủ cho một test plugin họ velocity.
+ *
+ * Gom costmap giả, pose giả, collision checker giả và đồng hồ giả, kèm hàm mô phỏng robot chạy
+ * theo đúng lệnh vận tốc mà behavior phát ra.
+ */
+struct VelocityRig
+{
+  VelocityRig(double span_m = 8.0, double resolution = 0.05,
+              double footprint_length = 0.6, double footprint_width = 0.4)
+    : costmap(nav_test_harness::FakeCostmap::centered(span_m, resolution))
+    , checker(&costmap,
+              nav_test_harness::FakeCollisionChecker::rectangleFootprint(footprint_length,
+                                                                        footprint_width))
+    , pose_port(&pose)
+    , collision_port(&checker)
+  {
+    ctx.pose = &pose_port;
+    ctx.collision = &collision_port;
+    ctx.plan = &plan;
+  }
+
+  /// @brief Cho robot chạy theo @p command trong @p dt giây, cập nhật pose giả.
+  void applyCommand(const robot_geometry_msgs::Twist& command, double dt)
+  {
+    const double yaw = pose.rawPose().theta;
+    pose.moveBy(command.linear.x * std::cos(yaw) * dt, command.linear.x * std::sin(yaw) * dt,
+                command.angular.z * dt);
+  }
+
+  nav_test_harness::FakeCostmap costmap;
+  nav_test_harness::FakeCollisionChecker checker;
+  nav_test_harness::FakePoseProvider pose;
+  nav_test_harness::FakeClock clock;
+  StubPlanProvider plan;
+
+  HarnessPoseProvider pose_port;
+  HarnessCollisionChecker collision_port;
+  recovery_core::RecoveryContext ctx;
+};
+
+}  // namespace recovery_test
+
+#endif  // RECOVERY_CORE_TEST_RECOVERY_TEST_UTILS_H_

test/registry_test.cpp

@@ -0,0 +1,181 @@
+/*********************************************************************
+ *
+ * Kiểm đường nạp plugin thật: YAML -> library_path -> Boost.DLL -> configure.
+ *
+ * Bản test cũ của gói KHÔNG kiểm được gì: nó `return` khi không nạp được plugin nào và `main` trả 0,
+ * nên "không plugin nào chạy" cũng in [PASS]. Test này phải fail được.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <gtest/gtest.h>
+
+#include <cstdlib>
+#include <memory>
+#include <string>
+
+#include <robot/node_handle.h>
+
+#include <recovery_core/recovery_registry.h>
+
+#include "recovery_test_utils.h"
+
+namespace
+{
+using recovery_core::RecoveryOutputType;
+using recovery_test::MockBehavior;
+using recovery_test::VelocityRig;
+
+TEST(Registry, LoadsDeclaredBehaviorsInOrder)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  ASSERT_TRUE(registry.loadFromConfig(nh, "recovery", rig.ctx));
+
+  // Thứ tự CHÍNH LÀ hành vi: caller thử behavior 0 trước.
+  ASSERT_EQ(registry.size(), 3u);
+  EXPECT_EQ(registry.nameAt(0), "wait");
+  EXPECT_EQ(registry.nameAt(1), "rotate");
+  EXPECT_EQ(registry.nameAt(2), "back_up");
+}
+
+TEST(Registry, LoadedBehaviorsReportCorrectOutputKind)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  ASSERT_TRUE(registry.loadFromConfig(nh, "recovery", rig.ctx));
+  ASSERT_EQ(registry.size(), 3u);
+
+  EXPECT_EQ(registry.at(0)->outputKind(), RecoveryOutputType::kNone);      // wait
+  EXPECT_EQ(registry.at(1)->outputKind(), RecoveryOutputType::kVelocity);  // rotate
+  EXPECT_EQ(registry.at(2)->outputKind(), RecoveryOutputType::kVelocity);  // back_up
+}
+
+TEST(Registry, PerInstanceParamsComeFromItsOwnNamespace)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  ASSERT_TRUE(registry.loadFromConfig(nh, "recovery", rig.ctx));
+
+  // `recovery/rotate/timeout: 20.0`, `recovery/back_up/timeout: 15.0`, `recovery/wait` không khai.
+  EXPECT_DOUBLE_EQ(recovery_test::findBehavior(registry, "rotate")->timeout(), 20.0);
+  EXPECT_DOUBLE_EQ(recovery_test::findBehavior(registry, "back_up")->timeout(), 15.0);
+  EXPECT_DOUBLE_EQ(recovery_test::findBehavior(registry, "wait")->timeout(), 0.0);
+}
+
+TEST(Registry, MissingLibraryPathIsReportedAndFails)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  // `GhostRecovery` được khai trong danh sách nhưng không có khoá library_path.
+  EXPECT_FALSE(registry.loadFromConfig(nh, "recovery_missing_library", rig.ctx));
+  EXPECT_EQ(registry.size(), 0u);
+}
+
+TEST(Registry, OneBadBehaviorDoesNotDropTheGoodOnes)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  // Một đường phục hồi hỏng không nên xoá sạch các đường còn lại.
+  EXPECT_FALSE(registry.loadFromConfig(nh, "recovery_partial", rig.ctx));
+  ASSERT_EQ(registry.size(), 1u);
+  EXPECT_EQ(registry.nameAt(0), "wait");
+}
+
+TEST(Registry, MissingBehaviorListFails)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  EXPECT_FALSE(registry.loadFromConfig(nh, "namespace_khong_ton_tai", rig.ctx));
+  EXPECT_EQ(registry.size(), 0u);
+}
+
+TEST(Registry, IndexOutOfRangeIsSafe)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  ASSERT_TRUE(registry.loadFromConfig(nh, "recovery", rig.ctx));
+
+  EXPECT_EQ(registry.at(99), nullptr);
+  EXPECT_TRUE(registry.nameAt(99).empty());
+}
+
+TEST(Registry, RegisterBehaviorRejectsNull)
+{
+  recovery_core::RecoveryRegistry registry;
+
+  EXPECT_FALSE(registry.registerBehavior(nullptr));
+  EXPECT_EQ(registry.size(), 0u);
+}
+
+TEST(Registry, RegisterBehaviorAppendsInOrder)
+{
+  recovery_core::RecoveryRegistry registry;
+
+  auto first = std::make_shared<MockBehavior>(RecoveryOutputType::kNone);
+  auto second = std::make_shared<MockBehavior>(RecoveryOutputType::kNone);
+
+  ASSERT_TRUE(registry.registerBehavior(first));
+  ASSERT_TRUE(registry.registerBehavior(second));
+
+  ASSERT_EQ(registry.size(), 2u);
+  EXPECT_EQ(registry.at(0), first.get());
+  EXPECT_EQ(registry.at(1), second.get());
+}
+
+TEST(Registry, ClearReleasesBehaviors)
+{
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+
+  ASSERT_TRUE(registry.loadFromConfig(nh, "recovery", rig.ctx));
+  ASSERT_GT(registry.size(), 0u);
+
+  registry.clear();
+  EXPECT_EQ(registry.size(), 0u);
+}
+
+TEST(Registry, BehaviorsStayUsableAfterLoaderScopeEnds)
+{
+  VelocityRig rig;
+  recovery_core::RecoveryRegistry registry;
+
+  {
+    // NodeHandle chết trước registry: behavior vẫn phải sống, vì registry mới là thứ giữ .so.
+    robot::NodeHandle scoped_nh;
+    ASSERT_TRUE(registry.loadFromConfig(scoped_nh, "recovery", rig.ctx));
+  }
+
+  auto* wait = recovery_test::findBehavior(registry, "wait");
+  ASSERT_NE(wait, nullptr);
+  ASSERT_TRUE(wait->start(recovery_core::RecoveryGoal(), robot::Time(1000.0)));
+  EXPECT_EQ(wait->update(robot::Time(1003.0)).status, recovery_core::RecoveryStatus::kSucceeded);
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+#ifdef RECOVERY_CORE_TEST_CONFIG_DIR
+  setenv("PNKX_NAV_CORE_CONFIG_DIR", RECOVERY_CORE_TEST_CONFIG_DIR, 0);
+#endif
+#ifdef RECOVERY_CORE_TEST_LIBRARY_DIR
+  setenv("PNKX_NAV_CORE_LIBRARY_PATH", RECOVERY_CORE_TEST_LIBRARY_DIR, 0);
+#endif
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

test/rotate_safety_test.cpp

@@ -0,0 +1,216 @@
+/*********************************************************************
+ *
+ * Kiểm quét cung và đo góc bằng pose thật của RotateRecovery.
+ *
+ * Bản trước không dùng `ctx()` một lần nào trong toàn file: quay mù, và đếm góc bằng
+ * `angular_speed * control_period`.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <gtest/gtest.h>
+
+#include <cmath>
+#include <cstdlib>
+
+#include <robot/node_handle.h>
+
+#include <recovery_core/recovery_registry.h>
+
+#include "recovery_test_utils.h"
+
+namespace
+{
+using recovery_core::RecoveryGoal;
+using recovery_core::RecoveryStatus;
+using recovery_test::VelocityRig;
+
+constexpr double kTwoPi = 2.0 * M_PI;
+
+struct RotateFixture
+{
+  RotateFixture()
+  {
+    rig.pose.setPose(0.0, 0.0, 0.0);
+    loaded = registry.loadFromConfig(nh, "recovery", rig.ctx);
+    rotate = recovery_test::findBehavior(registry, "rotate");
+  }
+
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+  bool loaded = false;
+  recovery_core::RecoveryBehavior* rotate = nullptr;
+};
+
+TEST(RotateSafety, RefusesToStartWhenArcIsBlocked)
+{
+  RotateFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.rotate, nullptr);
+
+  // Footprint 0.6 x 0.4 quanh gốc: khi quay 90 độ, mũi robot quét tới y ~ +/-0.3.
+  // Đặt vật cản ở đó -> cung quay bị chặn dù vị trí hiện tại vẫn trống.
+  fixture.rig.costmap.setLethalCircle(0.0, 0.32, 0.06);
+
+  RecoveryGoal goal;
+  goal.angle = kTwoPi;
+
+  EXPECT_FALSE(fixture.rotate->start(goal, robot::Time(1000.0)));
+}
+
+TEST(RotateSafety, StartsWhenArcIsClear)
+{
+  RotateFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.rotate, nullptr);
+
+  RecoveryGoal goal;
+  goal.angle = kTwoPi;
+
+  EXPECT_TRUE(fixture.rotate->start(goal, robot::Time(1000.0)));
+}
+
+TEST(RotateSafety, PartialArcAvoidsBlockedSector)
+{
+  RotateFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.rotate, nullptr);
+
+  // Vật cản chỉ chặn khi robot đã quay đáng kể; cung nhỏ vẫn phải đi được.
+  fixture.rig.costmap.setLethalCircle(0.0, 0.32, 0.06);
+
+  RecoveryGoal small_arc;
+  small_arc.angle = 0.05;
+
+  EXPECT_TRUE(fixture.rotate->start(small_arc, robot::Time(1000.0)));
+}
+
+TEST(RotateSafety, StopsWithZeroCommandWhenPoseIsLost)
+{
+  RotateFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.rotate, nullptr);
+
+  ASSERT_TRUE(fixture.rotate->start(RecoveryGoal(), robot::Time(1000.0)));
+  ASSERT_EQ(fixture.rotate->update(robot::Time(1000.1)).status, RecoveryStatus::kRunning);
+
+  fixture.rig.pose.setAvailable(false);
+  const auto result = fixture.rotate->update(robot::Time(1000.2));
+
+  EXPECT_EQ(result.status, RecoveryStatus::kFailed);
+  ASSERT_NE(result.velocity(), nullptr);
+  EXPECT_DOUBLE_EQ(result.velocity()->angular.z, 0.0);
+}
+
+TEST(RotateSafety, RefusesToStartWhenPoseIsUnavailable)
+{
+  RotateFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.rotate, nullptr);
+
+  fixture.rig.pose.setAvailable(false);
+
+  EXPECT_FALSE(fixture.rotate->start(RecoveryGoal(), robot::Time(1000.0)));
+}
+
+TEST(RotateSafety, FullRotationCountsPastPiCorrectly)
+{
+  RotateFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.rotate, nullptr);
+
+  RecoveryGoal goal;
+  goal.angle = kTwoPi;
+  ASSERT_TRUE(fixture.rotate->start(goal, robot::Time(1000.0)));
+
+  // Cộng dồn góc quay THẬT do test tự đo, độc lập với con số plugin báo.
+  double swept = 0.0;
+  double previous_yaw = fixture.rig.pose.rawPose().theta;
+
+  robot::Time now(1000.0);
+  bool finished = false;
+  for (int i = 0; i < 2000; ++i)
+  {
+    now = robot::Time(now.toSec() + 0.1);
+    const auto result = fixture.rotate->update(now);
+    if (result.terminal())
+    {
+      EXPECT_EQ(result.status, RecoveryStatus::kSucceeded);
+      finished = true;
+      break;
+    }
+    fixture.rig.applyCommand(result.command, 0.1);
+
+    const double yaw = fixture.rig.pose.rawPose().theta;
+    swept += std::abs(recovery_core::normalizeAngle(yaw - previous_yaw));
+    previous_yaw = yaw;
+  }
+
+  ASSERT_TRUE(finished);
+  // Quay đủ vòng: phép chuẩn hoá từng bước phải đếm đúng qua mốc pi, không bị wrap về 0.
+  EXPECT_NEAR(swept, kTwoPi, 0.05 * kTwoPi);
+}
+
+TEST(RotateSafety, SlowLoopDoesNotOvershoot)
+{
+  RotateFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.rotate, nullptr);
+
+  RecoveryGoal goal;
+  goal.angle = 1.0;
+  ASSERT_TRUE(fixture.rotate->start(goal, robot::Time(1000.0)));
+
+  double swept = 0.0;
+  double previous_yaw = fixture.rig.pose.rawPose().theta;
+
+  // dt gấp 5 lần nhịp thường.
+  robot::Time now(1000.0);
+  for (int i = 0; i < 200; ++i)
+  {
+    now = robot::Time(now.toSec() + 0.5);
+    const auto result = fixture.rotate->update(now);
+    if (result.terminal())
+    {
+      break;
+    }
+    fixture.rig.applyCommand(result.command, 0.5);
+
+    const double yaw = fixture.rig.pose.rawPose().theta;
+    swept += std::abs(recovery_core::normalizeAngle(yaw - previous_yaw));
+    previous_yaw = yaw;
+  }
+
+  EXPECT_NEAR(swept, 1.0, 0.05);
+}
+
+TEST(RotateSafety, CancelEmitsZeroCommand)
+{
+  RotateFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.rotate, nullptr);
+
+  ASSERT_TRUE(fixture.rotate->start(RecoveryGoal(), robot::Time(1000.0)));
+  ASSERT_EQ(fixture.rotate->update(robot::Time(1000.1)).status, RecoveryStatus::kRunning);
+
+  fixture.rotate->cancel();
+  const auto result = fixture.rotate->update(robot::Time(1000.2));
+
+  EXPECT_EQ(result.status, RecoveryStatus::kCancelled);
+  ASSERT_NE(result.velocity(), nullptr);
+  EXPECT_DOUBLE_EQ(result.velocity()->angular.z, 0.0);
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+#ifdef RECOVERY_CORE_TEST_CONFIG_DIR
+  setenv("PNKX_NAV_CORE_CONFIG_DIR", RECOVERY_CORE_TEST_CONFIG_DIR, 0);
+#endif
+#ifdef RECOVERY_CORE_TEST_LIBRARY_DIR
+  setenv("PNKX_NAV_CORE_LIBRARY_PATH", RECOVERY_CORE_TEST_LIBRARY_DIR, 0);
+#endif
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

test/timeout_test.cpp

@@ -0,0 +1,132 @@
+/*********************************************************************
+ *
+ * Kiểm `elapsed` + `timeout` của base.
+ *
+ * Bản trước khai `RecoveryResult::elapsed` trong header nhưng KHÔNG nơi nào ghi vào nó, nên caller
+ * không có cách phát hiện recovery treo. Test này khoá cả hai chiều: elapsed phải bám đồng hồ thật,
+ * và quá timeout phải là kFailed kèm stop output đúng họ.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <gtest/gtest.h>
+
+#include <cstdlib>
+#include <string>
+
+#include <robot/node_handle.h>
+
+#include "recovery_test_utils.h"
+
+namespace
+{
+using recovery_core::RecoveryGoal;
+using recovery_core::RecoveryOutputType;
+using recovery_core::RecoveryStatus;
+using recovery_test::MockBehavior;
+using recovery_test::VelocityRig;
+
+/// NodeHandle trỏ vào một namespace có sẵn khoá `timeout` trong config test.
+robot::NodeHandle timeoutNodeHandle(const std::string& ns)
+{
+  robot::NodeHandle root;
+  return robot::NodeHandle(root, ns);
+}
+
+TEST(Timeout, DisabledByDefault)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+
+  // Không khai `timeout` trong namespace này -> 0 = không giới hạn.
+  EXPECT_DOUBLE_EQ(behavior.timeout(), 0.0);
+
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+  const auto result = behavior.update(robot::Time(1000.0 + 3600.0));
+  EXPECT_EQ(result.status, RecoveryStatus::kRunning);
+}
+
+TEST(Timeout, ReadFromConfiguredNamespace)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh = timeoutNodeHandle("recovery/rotate");
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+
+  EXPECT_DOUBLE_EQ(behavior.timeout(), 20.0);
+}
+
+TEST(Timeout, ExceededYieldsFailedAndStopsTicking)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh = timeoutNodeHandle("recovery/rotate");  // timeout: 20 s
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+
+  ASSERT_EQ(behavior.update(robot::Time(1019.0)).status, RecoveryStatus::kRunning);
+  const int calls_before = behavior.update_calls;
+
+  const auto timed_out = behavior.update(robot::Time(1020.5));
+
+  EXPECT_EQ(timed_out.status, RecoveryStatus::kFailed);
+  EXPECT_NEAR(timed_out.elapsed, 20.5, 1e-6);
+  EXPECT_FALSE(timed_out.message.empty());
+  // Quá hạn thì KHÔNG giao quyền cho plugin nữa.
+  EXPECT_EQ(behavior.update_calls, calls_before);
+}
+
+TEST(Timeout, VelocityFamilyStopsWithExplicitZeroTwist)
+{
+  VelocityRig rig;
+  MockBehavior behavior(RecoveryOutputType::kVelocity);
+  robot::NodeHandle nh = timeoutNodeHandle("recovery/rotate");  // timeout: 20 s
+  ASSERT_TRUE(behavior.configure("mock", rig.ctx, nh));
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+
+  const auto timed_out = behavior.update(robot::Time(1021.0));
+
+  ASSERT_EQ(timed_out.status, RecoveryStatus::kFailed);
+  ASSERT_NE(timed_out.velocity(), nullptr);
+  EXPECT_DOUBLE_EQ(timed_out.velocity()->linear.x, 0.0);
+  EXPECT_DOUBLE_EQ(timed_out.velocity()->angular.z, 0.0);
+}
+
+TEST(Timeout, ElapsedIsSetOnEveryResult)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  robot::NodeHandle nh;
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+  ASSERT_TRUE(behavior.start(RecoveryGoal(), robot::Time(1000.0)));
+
+  // Plugin không đặt elapsed; base phải điền vào.
+  behavior.next_result = recovery_core::RecoveryResult::Running();
+  EXPECT_NEAR(behavior.update(robot::Time(1002.0)).elapsed, 2.0, 1e-6);
+
+  behavior.next_result = recovery_core::RecoveryResult::Succeeded();
+  EXPECT_NEAR(behavior.update(robot::Time(1007.5)).elapsed, 7.5, 1e-6);
+}
+
+TEST(Timeout, OutOfRangeConfigFallsBackToDisabled)
+{
+  MockBehavior behavior(RecoveryOutputType::kNone);
+  // `recovery/bad_timeout` khai timeout âm -> phải cảnh báo và về 0 chứ không nhận giá trị âm.
+  robot::NodeHandle nh = timeoutNodeHandle("recovery_bad/bad_timeout");
+  recovery_core::RecoveryContext ctx;
+  ASSERT_TRUE(behavior.configure("mock", ctx, nh));
+
+  EXPECT_DOUBLE_EQ(behavior.timeout(), 0.0);
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+#ifdef RECOVERY_CORE_TEST_CONFIG_DIR
+  setenv("PNKX_NAV_CORE_CONFIG_DIR", RECOVERY_CORE_TEST_CONFIG_DIR, 0);
+#endif
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}

test/wait_recovery_test.cpp

@@ -0,0 +1,179 @@
+/*********************************************************************
+ *
+ * Kiểm WaitRecovery — behavior mới của bộ default.
+ *
+ * Đây là recovery an toàn nhất (robot không di chuyển) và hữu dụng nhất cho AMR trong kho, nơi phần
+ * lớn tình huống chặn đường là vật cản động. Nó cũng là chỗ rẻ nhất để chứng minh đường `elapsed`
+ * của base chạy đúng theo đồng hồ thật.
+ *
+ * Author: DuongTD
+ *********************************************************************/
+#include <gtest/gtest.h>
+
+#include <cstdlib>
+
+#include <robot/node_handle.h>
+
+#include <recovery_core/recovery_registry.h>
+
+#include "recovery_test_utils.h"
+
+namespace
+{
+using recovery_core::RecoveryGoal;
+using recovery_core::RecoveryOutputType;
+using recovery_core::RecoveryStatus;
+using recovery_test::VelocityRig;
+
+constexpr double kConfiguredWait = 3.0;  // [s] khớp `recovery/wait/wait_duration`
+
+struct WaitFixture
+{
+  WaitFixture()
+  {
+    loaded = registry.loadFromConfig(nh, "recovery", rig.ctx);
+    wait = recovery_test::findBehavior(registry, "wait");
+  }
+
+  VelocityRig rig;
+  robot::NodeHandle nh;
+  recovery_core::RecoveryRegistry registry;
+  bool loaded = false;
+  recovery_core::RecoveryBehavior* wait = nullptr;
+};
+
+TEST(WaitRecovery, DeclaresNoOutputFamily)
+{
+  WaitFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.wait, nullptr);
+
+  EXPECT_EQ(fixture.wait->outputKind(), RecoveryOutputType::kNone);
+}
+
+TEST(WaitRecovery, NeverEmitsVelocity)
+{
+  WaitFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.wait, nullptr);
+
+  ASSERT_TRUE(fixture.wait->start(RecoveryGoal(), robot::Time(1000.0)));
+
+  robot::Time now(1000.0);
+  for (int i = 0; i < 60; ++i)
+  {
+    now = robot::Time(now.toSec() + 0.1);
+    const auto result = fixture.wait->update(now);
+    // Behavior đứng yên tuyệt đối không được làm caller tưởng nó đang lái robot.
+    EXPECT_EQ(result.velocity(), nullptr);
+    EXPECT_EQ(result.output_type, RecoveryOutputType::kNone);
+    if (result.terminal())
+    {
+      break;
+    }
+  }
+}
+
+TEST(WaitRecovery, SucceedsAfterConfiguredDuration)
+{
+  WaitFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.wait, nullptr);
+
+  ASSERT_TRUE(fixture.wait->start(RecoveryGoal(), robot::Time(1000.0)));
+
+  EXPECT_EQ(fixture.wait->update(robot::Time(1001.0)).status, RecoveryStatus::kRunning);
+  EXPECT_EQ(fixture.wait->update(robot::Time(1002.9)).status, RecoveryStatus::kRunning);
+  EXPECT_EQ(fixture.wait->update(robot::Time(1003.0)).status, RecoveryStatus::kSucceeded);
+}
+
+TEST(WaitRecovery, CountsByClockNotByTickCount)
+{
+  WaitFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.wait, nullptr);
+
+  ASSERT_TRUE(fixture.wait->start(RecoveryGoal(), robot::Time(1000.0)));
+
+  // Một tick duy nhất nhưng nhảy qua trọn thời lượng: phải xong ngay, không cần đủ số nhịp.
+  const auto result = fixture.wait->update(robot::Time(1000.0 + kConfiguredWait));
+
+  EXPECT_EQ(result.status, RecoveryStatus::kSucceeded);
+  EXPECT_NEAR(result.elapsed, kConfiguredWait, 1e-6);
+}
+
+TEST(WaitRecovery, ProgressAdvancesMonotonically)
+{
+  WaitFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.wait, nullptr);
+
+  ASSERT_TRUE(fixture.wait->start(RecoveryGoal(), robot::Time(1000.0)));
+
+  double last = -1.0;
+  for (int i = 1; i <= 5; ++i)
+  {
+    const auto result = fixture.wait->update(robot::Time(1000.0 + 0.5 * i));
+    EXPECT_GE(result.progress, last);
+    EXPECT_GE(result.remaining, 0.0);
+    last = result.progress;
+  }
+}
+
+TEST(WaitRecovery, PerRunDurationOverride)
+{
+  WaitFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.wait, nullptr);
+
+  RecoveryGoal goal;
+  goal.params["wait_duration"] = 1.0;
+
+  ASSERT_TRUE(fixture.wait->start(goal, robot::Time(1000.0)));
+
+  EXPECT_EQ(fixture.wait->update(robot::Time(1000.5)).status, RecoveryStatus::kRunning);
+  EXPECT_EQ(fixture.wait->update(robot::Time(1001.0)).status, RecoveryStatus::kSucceeded);
+}
+
+TEST(WaitRecovery, InvalidOverrideFallsBackToConfiguredDuration)
+{
+  WaitFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.wait, nullptr);
+
+  RecoveryGoal goal;
+  goal.params["wait_duration"] = -5.0;  // vô lý -> phải cảnh báo và dùng default
+
+  ASSERT_TRUE(fixture.wait->start(goal, robot::Time(1000.0)));
+
+  EXPECT_EQ(fixture.wait->update(robot::Time(1002.0)).status, RecoveryStatus::kRunning);
+  EXPECT_EQ(fixture.wait->update(robot::Time(1003.0)).status, RecoveryStatus::kSucceeded);
+}
+
+TEST(WaitRecovery, NeedsNoPoseOrCollisionPorts)
+{
+  // Điểm mạnh của WaitRecovery: chạy được cả khi TF hỏng, nên nó là đường phục hồi cuối cùng còn
+  // dùng được khi mọi thứ khác đã mất pose.
+  WaitFixture fixture;
+  ASSERT_TRUE(fixture.loaded);
+  ASSERT_NE(fixture.wait, nullptr);
+
+  fixture.rig.pose.setAvailable(false);
+
+  ASSERT_TRUE(fixture.wait->start(RecoveryGoal(), robot::Time(1000.0)));
+  EXPECT_EQ(fixture.wait->update(robot::Time(1003.0)).status, RecoveryStatus::kSucceeded);
+}
+
+}  // namespace
+
+int main(int argc, char** argv)
+{
+#ifdef RECOVERY_CORE_TEST_CONFIG_DIR
+  setenv("PNKX_NAV_CORE_CONFIG_DIR", RECOVERY_CORE_TEST_CONFIG_DIR, 0);
+#endif
+#ifdef RECOVERY_CORE_TEST_LIBRARY_DIR
+  setenv("PNKX_NAV_CORE_LIBRARY_PATH", RECOVERY_CORE_TEST_LIBRARY_DIR, 0);
+#endif
+  testing::InitGoogleTest(&argc, argv);
+  return RUN_ALL_TESTS();
+}