HiepLM/pnkx_nav_core
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update

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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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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;
};