update docking

config/hybrid_local_planner_params.yaml

@@ -31,8 +31,8 @@ HybridLocalPlanner:
 
     # GoalTolerance
 
-    xy_goal_tolerance: 0.1
+    xy_goal_tolerance: 0.05
-    yaw_goal_tolerance: 0.07
+    yaw_goal_tolerance: 0.05
 
     # Optimization
 

config/pnkx_local_planner_params.yaml

@@ -48,7 +48,7 @@ LimitedAccelGenerator:
   min_vel_y: 0.0  # diff drive robot
 
   max_speed_xy: 2.0    # max_trans_vel: 0.8  # choose slightly less than the base's capability
-  min_speed_xy: 0.25    # min_trans_vel: 0.1  # this is the min trans velocity when there is negligible rotational velocity
+  min_speed_xy: 0.15    # min_trans_vel: 0.1  # this is the min trans velocity when there is negligible rotational velocity
 
   max_vel_theta: 0.4   # max_rot_vel: 1.0  # choose slightly less than the base's capability
   min_vel_theta: 0.05 # min_rot_vel: 0.1 default: 0.4  # this is the min angular velocity when there is negligible translational velocity

src/Algorithms/Libraries/mkt_algorithm/src/diff/diff_predictive_trajectory.cpp

@@ -546,9 +546,9 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
       // {
       //   lookahead_dist = sqrt(carrot_pose.pose.y *carrot_pose.pose.y + lookahead_dist * lookahead_dist);
       // }
-      robot_nav_2d_msgs::Twist2D drive_target;
+      robot_nav_2d_msgs::Twist2D drive_target = drive_cmd;
-      transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target);
+      // transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target);
-      carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
+      // carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
       // Normal Pure Pursuit
       this->computePurePursuit(
       carrot_pose, 
@@ -666,6 +666,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
       // Apply acceleration limits
       double dw_heading = std::clamp(w_heading - velocity.theta, -acc_lim_theta_ * dt, acc_lim_theta_ * dt);
       w_target = velocity.theta + dw_heading;
+      w_target = std::clamp(w_target, -0.05, 0.05);
     }
     else
     {
@@ -677,7 +678,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
   {
     near_goal_heading_was_active_ = false;
   }
-  w_target = std::clamp(w_target, -fabs(drive_target.theta), fabs(drive_target.theta));
+  // w_target = std::clamp(w_target, -fabs(drive_target.theta), fabs(drive_target.theta));
 
   // 6) Apply acceleration limits (linear + angular)
   const double dv = std::clamp(v_target - velocity.x, -acc_lim_x_ * dt, acc_lim_x_ * dt);
@@ -704,8 +705,8 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
   double v_min = min_approach_linear_velocity_;
   drive_cmd.x = std::clamp(kf_->state()[0], -fabs(v_target), fabs(v_target));
   drive_cmd.x = fabs(drive_cmd.x) >= v_min ? drive_cmd.x : std::copysign(v_min, sign_x);
-  if (kf_filter_angular_)
+  // if (kf_filter_angular_)
-    drive_cmd.theta = std::clamp(kf_->state()[3], -max_vel_theta_, max_vel_theta_);
+  //   drive_cmd.theta = std::clamp(kf_->state()[3], -max_vel_theta_, max_vel_theta_);
 }
 
 void mkt_algorithm::diff::PredictiveTrajectory::applyDistanceSpeedScaling(

src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp

@@ -255,7 +255,7 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::reset()
 
   parent_.setParam(algorithm_nav_name, original_papams_);
   robot::NodeHandle nh_algorithm = robot::NodeHandle(parent_, algorithm_nav_name);
-  nh_algorithm.setParam("allow_rotate", false);
+  // nh_algorithm.setParam("allow_rotate", false);
 }
 
 void pnkx_local_planner::PNKXDockingLocalPlanner::prepare(const robot_nav_2d_msgs::Pose2DStamped &pose, const robot_nav_2d_msgs::Twist2D &velocity)
@@ -453,7 +453,8 @@ bool pnkx_local_planner::PNKXDockingLocalPlanner::isGoalReached(const robot_nav_
     }
   }
 
-  if (ret_nav_ && !ret_angle_ && !dock_ok)
+  // if (ret_nav_ && !ret_angle_ && !dock_ok)
+  if (ret_nav_ && !ret_angle_)
   {
     double delta_orient =
         fabs(angles::normalize_angle(local_goal.pose.theta - local_pose.pose.theta));

src/Navigations/Cores/robot_nav_core/include/robot_nav_core/base_local_planner.h

@@ -146,7 +146,7 @@ namespace robot_nav_core
      * @brief Gets the current global plan
      * @param path The global plan
      */
-    virtual void getGlobalPlan(std::vector<robot_geometry_msgs::PoseStamped> &path) = 0;
+    virtual void getGlobalPlan(std::vector<robot_geometry_msgs::PoseStamped> &path) {return;}
 
     /**
      * @brief  Constructs the local planner

src/Navigations/Cores/robot_nav_core2/include/robot_nav_core2/local_planner.h

@@ -103,7 +103,7 @@ namespace robot_nav_core2
      * @brief Gets the current global plan
      * @param path The global plan
      */
-    virtual void getGlobalPlan(robot_nav_2d_msgs::Path2D &path) = 0;
+    virtual void getGlobalPlan(robot_nav_2d_msgs::Path2D &path) {return;}
 
     /**
      * @brief Compute the best command given the current pose, velocity and goal