Hướng Dẫn Viết Plugin recovery_core

Package hiện có 4 plugin mẫu dưới plugins/:

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

Kế thừa recovery_core::RecoveryBehavior.
Override initialize() — đọc param riêng qua robot::NodeHandle("~/" + name), cache tf/global_path/costmap.
Override method theo họ (xem dưới) + status().
Thêm factory static Ptr create() không tham số + BOOST_DLL_ALIAS(...).

Override theo họ

Họ	Override	Trả về
A. path	`runBehavior()`	`RecoveryResult::PathOut(path, kSucceeded)`
B. none	`runBehavior()`	`RecoveryResult::Succeeded()` / `Failed()`
C. velocity	`computeCommand(dt)`	`RecoveryResult::Velocity(twist, kRunning

Export bằng Boost.DLL (bắt buộc cho plugin)

#include <recovery_core/recovery_behavior.h>
#include <boost/dll/alias.hpp>

namespace recovery_plugins {
class SpinRecovery : public recovery_core::RecoveryBehavior {
 public:
  static recovery_core::RecoveryBehavior::Ptr create() {
    return std::make_shared<SpinRecovery>();
  }
  // override initialize()/computeCommand()/runBehavior()/status()...
};
}  // namespace recovery_plugins

// alias = `type` dùng trong YAML recovery_behaviors.
BOOST_DLL_ALIAS(recovery_plugins::SpinRecovery::create, spin_recovery)

Nạp phía loader (adapter/caller — không nằm trong recovery_core)

#include <boost/dll/import.hpp>
auto loader = boost::dll::import_alias<recovery_core::RecoveryBehavior::Ptr()>(
    path_so, /*symbol=*/type, boost::dll::load_mode::append_decorations);
recovery_core::RecoveryBehavior::Ptr behavior = loader();
behavior->initialize(name, tf, global_path, global_costmap, local_costmap);

Lưu ý: adapter/test phải giữ handle .so sống lâu hơn object plugin. Nếu library bị unload trong khi object plugin còn tồn tại, virtual call qua vtable của plugin có thể crash.

CMake cho plugin

find_package(Boost REQUIRED COMPONENTS system filesystem)
link ${Boost_LIBRARIES}, ${CMAKE_DL_LIBS}, recovery_core
set_target_properties(<plugin> PROPERTIES POSITION_INDEPENDENT_CODE ON)
build shared library, tên library + symbol khớp type; install .so nơi loader tìm.

Test plugin

catkin_make --pkg recovery_core
./devel/lib/recovery_core/recovery_core_plugin_loader_test

Standalone:

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_plugin_loader_test

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