temporary storage 7/9/2026 20:41

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.

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");