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HiepLM
2025-12-30 09:08:41 +07:00
parent 4962cfbf49
commit 63cb260cb2
112 changed files with 456 additions and 456 deletions
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12
doc/architecture_discussion.md
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@@ -89,10 +89,10 @@ flowchart TB
%% ========== DATA SOURCES ==========
subgraph DataSources["📡 Data Sources"]
direction TB
Goal["<b>🎯 Goal Input</b><br/>━━━━━━━━━━━━━━━━<br/>📍 geometry_msgs::PoseStamped<br/>📨 move_base_simple/goal"]
Goal["<b>🎯 Goal Input</b><br/>━━━━━━━━━━━━━━━━<br/>📍 robot_geometry_msgs::PoseStamped<br/>📨 move_base_simple/goal"]
Loc["<b>🌍 Localization</b><br/>━━━━━━━━━━━━━━━━<br/>📍 Pnkx Loc<br/>🗺️ Global Pose<br/>🔄 Pose Updates"]
TF["<b>🔄 Transform System</b><br/>━━━━━━━━━━━━━━━━<br/>📐 tf3::BufferCore<br/>🌐 Coordinate Frames<br/>⏱️ Time Synchronization"]
Odom["<b>🚗 Odometry</b><br/>━━━━━━━━━━━━━━━━<br/>📍 geometry_msgs::Odometry<br/>⚡ Robot Velocity<br/>📊 Position Tracking"]
Odom["<b>🚗 Odometry</b><br/>━━━━━━━━━━━━━━━━<br/>📍 robot_geometry_msgs::Odometry<br/>⚡ Robot Velocity<br/>📊 Position Tracking"]
Laser["<b>📡 Laser Sensors</b><br/>━━━━━━━━━━━━━━━━<br/>🔍 sensor_msgs::LaserScan<br/>🚫 Obstacle Detection<br/>📏 Distance Measurement"]
Map["<b>🗺️ Map Server</b><br/>━━━━━━━━━━━━━━━━<br/>📋 nav_msgs::OccupancyGrid<br/>🏗️ Static Map<br/>📐 Map Metadata"]
style DataSources fill:#FFF9C4,stroke:#F57F17,stroke-width:4px,color:#000
@@ -107,7 +107,7 @@ flowchart TB
%% ========== CONTROL LOOP ==========
subgraph ControlLoop["🔄 Control Loop"]
direction LR
CmdVel["<b>⚡ Velocity Command</b><br/>━━━━━━━━━━━━━━━━<br/>📤 geometry_msgs::Twist<br/>📨 cmd_vel<br/>━━━━━━━━━━━━━━━━<br/>➡️ Linear Velocity<br/>🔄 Angular Velocity"]
CmdVel["<b>⚡ Velocity Command</b><br/>━━━━━━━━━━━━━━━━<br/>📤 robot_geometry_msgs::Twist<br/>📨 cmd_vel<br/>━━━━━━━━━━━━━━━━<br/>➡️ Linear Velocity<br/>🔄 Angular Velocity"]
BaseCtrl["<b>🎮 Base Controller</b><br/>━━━━━━━━━━━━━━━━<br/>🚗 diff_driver_controller<br/>🚲 steer_drive_controller<br/>━━━━━━━━━━━━━━━━<br/>⚙️ Kinematics<br/>🔧 Hardware Interface"]
style ControlLoop fill:#FFEBEE,stroke:#C62828,stroke-width:4px,color:#000
style CmdVel fill:#FFCDD2,stroke:#C62828,stroke-width:3px,font-size:13px
@@ -232,9 +232,9 @@ Cần làm rõ:
- Velocity command execution
**Định dạng dữ liệu:**
- `geometry_msgs::Pose2D` / `geometry_msgs::PoseStamped` (vị trí + hướng)
- `geometry_msgs::Twist` (vận tốc linear/angular)
- `std::vector<geometry_msgs::PoseStamped>` (đường đi)
- `robot_geometry_msgs::Pose2D` / `robot_geometry_msgs::PoseStamped` (vị trí + hướng)
- `robot_geometry_msgs::Twist` (vận tốc linear/angular)
- `std::vector<robot_geometry_msgs::PoseStamped>` (đường đi)
- `costmap_2d::Costmap2D` (bản đồ chi phí)
### 3. Thiết kế từng module (interface level)

12
doc/implementation_plan.md
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@@ -56,8 +56,8 @@
**File:** `src/Navigations/Cores/move_base_core/include/move_base_core/odometry_source.h`
```cpp
class IOdometrySource {
virtual geometry_msgs::PoseStamped getCurrentPose() = 0;
virtual geometry_msgs::Twist getCurrentVelocity() = 0;
virtual robot_geometry_msgs::PoseStamped getCurrentPose() = 0;
virtual robot_geometry_msgs::Twist getCurrentVelocity() = 0;
virtual bool isAvailable() = 0;
};
```
@@ -66,7 +66,7 @@ class IOdometrySource {
**File:** `src/Navigations/Cores/move_base_core/include/move_base_core/localization_source.h`
```cpp
class ILocalizationSource {
virtual geometry_msgs::PoseStamped getRobotPose() = 0;
virtual robot_geometry_msgs::PoseStamped getRobotPose() = 0;
virtual std::string getGlobalFrame() = 0;
virtual bool isLocalized() = 0;
};
@@ -96,9 +96,9 @@ class ISensorSource {
**File:** `src/Navigations/Cores/move_base_core/include/move_base_core/base_controller.h`
```cpp
class IBaseController {
virtual bool setVelocity(const geometry_msgs::Twist& cmd_vel) = 0;
virtual bool setVelocity(const robot_geometry_msgs::Twist& cmd_vel) = 0;
virtual bool stop() = 0;
virtual geometry_msgs::Twist getCurrentVelocity() = 0;
virtual robot_geometry_msgs::Twist getCurrentVelocity() = 0;
};
```
@@ -120,7 +120,7 @@ class IBaseController {
**File:** `src/Navigations/Cores/move_base_core/include/move_base_core/user_controller.h`
```cpp
class IUserController {
virtual void onGoalReceived(const geometry_msgs::PoseStamped& goal) = 0;
virtual void onGoalReceived(const robot_geometry_msgs::PoseStamped& goal) = 0;
virtual void onNavigationStateChanged(move_base_core::State state) = 0;
virtual void onFeedback(const NavFeedback& feedback) = 0;
};