HiepLM/pnkx_nav_core
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update

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HiepLM
2026-03-23 14:27:24 +07:00
parent f7fa96ff8b
commit 36ce68abf1
3 changed files with 9 additions and 16 deletions
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4
src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp
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@@ -1244,8 +1244,8 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra
}
else // nếu đường cong
{
if(fabs(drive_cmd.x) < min_speed_xy_)
drive_cmd.x = std::copysign(min_speed_xy_, sign_x);
double v_min = std::clamp(fabs(drive_cmd.x), min_approach_linear_velocity_, min_speed_xy_);
drive_cmd.x = std::copysign(v_min, sign_x);
return generateHermiteQuadraticTrajectory(path.poses.back(), sign_x);
}
}

10
src/Algorithms/Packages/global_planners/two_points_planner/src/two_points_planner.cpp
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@@ -176,6 +176,8 @@ namespace two_points_planner
const double dy = goal.pose.position.y - start.pose.position.y;
const double distance = std::sqrt(dx * dx + dy * dy);
double theta;
// Lấy độ phân giải của costmap
double resolution = costmap_robot_->getCostmap()->getResolution();
if(fabs(dx) > 1e-9 || fabs(dy) > 1e-9)
{
@@ -189,16 +191,12 @@ namespace two_points_planner
else
{
robot_geometry_msgs::PoseStamped pose = start;
pose.pose.position.x += 0.01 * cos(theta);
pose.pose.position.y += 0.01 * sin(theta);
pose.pose.position.x += resolution * cos(theta);
pose.pose.position.y += resolution * sin(theta);
plan.push_back(pose);
plan.push_back(goal);
return true;
}
// Lấy độ phân giải của costmap
double resolution = costmap_robot_->getCostmap()->getResolution();
// Tính số điểm cần chia
int num_points = std::ceil(distance / resolution);

9
src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp
View File

@@ -250,17 +250,12 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::reset()
if(rotate_algorithm_) rotate_algorithm_->reset();
ret_nav_ = ret_angle_ = false;
robot::log_info_at(__FILE__, __LINE__, "Debug");
parent_.printParams();
std::string algorithm_nav_name;
planner_nh_.param("algorithm_nav_name", algorithm_nav_name, std::string("pnkx_local_planner::PTA"));
parent_.setParam(algorithm_nav_name, original_papams_);
robot::NodeHandle nh_algorithm = robot::NodeHandle(parent_, algorithm_nav_name);
nh_algorithm.setParam("allow_rotate", false);
robot::log_info_at(__FILE__, __LINE__, "Debug ở đây");
parent_.printParams();
}
void pnkx_local_planner::PNKXDockingLocalPlanner::prepare(const robot_nav_2d_msgs::Pose2DStamped &pose, const robot_nav_2d_msgs::Twist2D &velocity)
@@ -455,7 +450,6 @@ bool pnkx_local_planner::PNKXDockingLocalPlanner::isGoalReached(const robot_nav_
{
robot::log_info_at(__FILE__, __LINE__, "local_pose %f %f %f", local_pose.pose.x, local_pose.pose.y, local_pose.pose.theta);
robot::log_info_at(__FILE__, __LINE__, "local_goal %f %f %f", local_goal.pose.x, local_goal.pose.y, local_goal.pose.theta);
robot::log_info_at(__FILE__, __LINE__, "goal_pose_ %f %f %f", goal_pose_.pose.x, goal_pose_.pose.y, goal_pose_.pose.theta);
}
}
@@ -801,7 +795,8 @@ bool pnkx_local_planner::PNKXDockingLocalPlanner::DockingPlanner::getLocalPath(
robot_geometry_msgs::PoseStamped start = robot_nav_2d_utils::pose2DToPoseStamped(local_pose);
robot_geometry_msgs::PoseStamped goal = robot_nav_2d_utils::pose2DToPoseStamped(local_goal);
std::vector<robot_geometry_msgs::PoseStamped> docking_plan;
robot::log_info_at(__FILE__, __LINE__, "start %s %f %f", start.header.frame_id.c_str(), start.pose.position.x, start.pose.position.y);
robot::log_info_at(__FILE__, __LINE__, "goal %s %f %f", goal.header.frame_id.c_str(), goal.pose.position.x, goal.pose.position.y);
if (!docking_planner_->makePlan(start, goal, docking_plan))
{
throw robot_nav_core2::LocalPlannerException("Making plan from goal maker is failed");