Merge remote-tracking branch 'origin/3.0' into awc-devel

config/costmap_common_params.yaml

@@ -1,11 +1,3 @@
-# position_planner_name: PNKXLocalPlanner
-position_planner_name: HybridLocalPlanner
-docking_planner_name: PNKXDockingLocalPlanner
-go_straight_planner_name: PNKXGoStraightLocalPlanner
-rotate_planner_name: PNKXRotateLocalPlanner
-base_local_planner: LocalPlannerAdapter
-base_global_planner: CustomPlanner
-
 robot_base_frame: base_link
 transform_tolerance: 1.0
 obstacle_range: 3.0

config/dock_global_params.yaml

@@ -0,0 +1,11 @@
+DockPlanner:
+  library_path: libdock_planner
+  MyGlobalPlanner:
+    cost_threshold: 200        # Ngưỡng chi phí vật cản (0-255)
+    safety_distance: 2         # Khoảng cách an toàn (cells)
+    use_dijkstra: false        # Sử dụng Dijkstra thay vì A*
+    
+  # File: config/costmap_params.yaml
+  global_costmap:
+    inflation_radius: 0.3      # Bán kính phình vật cản
+    cost_scaling_factor: 10.0  # Hệ số tỷ lệ chi phí

config/move_base_common_params.yaml

@@ -1,3 +1,25 @@
+position_planner_name: PNKXLocalPlanner
+docking_planner_name: PNKXDockingLocalPlanner
+go_straight_planner_name: PNKXGoStraightLocalPlanner
+rotate_planner_name: PNKXRotateLocalPlanner
+base_local_planner: LocalPlannerAdapter
+base_global_planner: CustomPlanner
+
+PNKXLocalPlanner:
+  base_local_planner: LocalPlannerAdapter
+  base_global_planner: CustomPlanner
+
+PNKXDockingLocalPlanner:
+  base_local_planner: LocalPlannerAdapter
+  base_global_planner: TwoPointsPlanner
+
+PNKXGoStraightLocalPlanner:
+  base_local_planner: LocalPlannerAdapter
+  base_global_planner: TwoPointsPlanner
+
+PNKXRotateLocalPlanner:
+  base_local_planner: LocalPlannerAdapter
+  base_global_planner: TwoPointsPlanner
 
 ### replanning
 controller_frequency: 30.0   # run controller at 15.0 Hz

config/pnkx_local_planner_params.yaml

@@ -41,8 +41,8 @@ PNKXRotateLocalPlanner:
     
 LimitedAccelGenerator:
   library_path: libmkt_plugins_standard_traj_generator
-  max_vel_x: 0.2
-  min_vel_x: -0.2
+  max_vel_x: 1.2
+  min_vel_x: -1.2
 
   max_vel_y: 0.0  # diff drive robot
   min_vel_y: 0.0  # diff drive robot
@@ -50,7 +50,7 @@ LimitedAccelGenerator:
   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
 
-  max_vel_theta: 0.7   # max_rot_vel: 1.0  # choose slightly less than the base's capability
+  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
 
   acc_lim_x: 1.5
@@ -79,6 +79,14 @@ MKTAlgorithmDiffPredictiveTrajectory:
   index_samples: 60
   follow_step_path: true
 
+  # Kalman filter tuning (filters v and w commands)
+  kf_q_v: 0.25
+  kf_q_w: 0.8
+  kf_r_v: 0.05
+  kf_r_w: 0.08
+  kf_p0: 0.5
+  kf_filter_angular: false
+
   # Lookahead
   use_velocity_scaled_lookahead_dist: true    # Whether to use the velocity scaled lookahead distances or constant lookahead_distance. (default: false)
   # only when false: