From 89add78c7fe740b16551e7d0a217d71b81b0828f Mon Sep 17 00:00:00 2001 From: duongtd Date: Fri, 10 Jul 2026 09:45:07 +0700 Subject: [PATCH] temporary storage 7/9/2026 20:41 --- include/recovery_core/recovery_types.h | 5 +++-- test/plugin_loader_contract_test.cpp | 1 + 2 files changed, 4 insertions(+), 2 deletions(-) diff --git a/include/recovery_core/recovery_types.h b/include/recovery_core/recovery_types.h index b221e7d..99955f6 100644 --- a/include/recovery_core/recovery_types.h +++ b/include/recovery_core/recovery_types.h @@ -76,8 +76,9 @@ struct RecoveryContext */ struct RecoveryGoal { - double angle = 0.0; ///< rad — góc quay đích (họ rotate). 0 = dùng default plugin. - double distance = 0.0; ///< m — khoảng lùi đích (họ backup). 0 = dùng default plugin. + double angle = 0.0; ///< rad — góc quay đích. 0 = dùng default plugin. + 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. bool has_target_pose = false; ///< true nếu target_pose hợp lệ. diff --git a/test/plugin_loader_contract_test.cpp b/test/plugin_loader_contract_test.cpp index 66a6977..c7e568d 100644 --- a/test/plugin_loader_contract_test.cpp +++ b/test/plugin_loader_contract_test.cpp @@ -177,6 +177,7 @@ for(const auto& behavior : creators_) 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");