update

config/config/obstacle_layer_params.yaml

@@ -1,4 +1,5 @@
 obstacle_layer:
+  enabled: true
   track_unknown_space: true
   transform_tolerance: 0.2
   topic: "map"

config/costmap_common_params.yaml

@@ -1,4 +1,5 @@
-position_planner_name: PNKXLocalPlanner
+# position_planner_name: PNKXLocalPlanner
+position_planner_name: HybridLocalPlanner
 docking_planner_name: PNKXDockingLocalPlanner
 go_straight_planner_name: PNKXGoStraightLocalPlanner
 rotate_planner_name: PNKXRotateLocalPlanner
@@ -26,23 +27,23 @@ virtual_walls_map:
   lethal_cost_threshold: 100
 
 obstacles:
-  observation_sources: f_scan_marking f_scan_clearing b_scan_marking b_scan_clearing
-  f_scan_marking:
-    topic: /f_scan
-    data_type: LaserScan
-    clearing: false
-    marking: true
-    inf_is_valid: false
-    min_obstacle_height: 0.0
-    max_obstacle_height: 0.25
-  f_scan_clearing:
-    topic: /f_scan
-    data_type: LaserScan
-    clearing: true
-    marking: false
-    inf_is_valid: false
-    min_obstacle_height: 0.0
-    max_obstacle_height: 0.25
+  observation_sources:  b_scan_marking b_scan_clearing #f_scan_marking f_scan_clearing
+  # f_scan_marking:
+  #   topic: /f_scan
+  #   data_type: LaserScan
+  #   clearing: false
+  #   marking: true
+  #   inf_is_valid: false
+  #   min_obstacle_height: 0.0
+  #   max_obstacle_height: 0.25
+  # f_scan_clearing:
+  #   topic: /f_scan
+  #   data_type: LaserScan
+  #   clearing: true
+  #   marking: false
+  #   inf_is_valid: false
+  #   min_obstacle_height: 0.0
+  #   max_obstacle_height: 0.25
   b_scan_marking:
     topic: /b_scan
     data_type: LaserScan

config/hybrid_local_planner_params.yaml

@@ -0,0 +1,54 @@
+LocalPlannerAdapter:
+  library_path: liblocal_planner_adapter
+  yaw_goal_tolerance: 0.017  
+  xy_goal_tolerance: 0.03 
+  min_approach_linear_velocity: 0.06
+
+HybridLocalPlanner:
+# base_local_planner: "hybrid_local_planner/HybridLocalPlanner"
+# HybridLocalPlanner:
+    library_path: libhybrid_local_planner
+    odom_topic: odom
+    # Trajectory
+
+    max_global_plan_lookahead_dist: 4.0
+    global_plan_viapoint_sep: 0.5
+    global_plan_prune_distance: 0.0
+    global_plan_goal_sep: 0.05
+
+    # Robot
+
+    max_vel_x: 1.0
+    max_vel_x_backwards: -0.2
+    max_vel_theta: 0.5
+    acc_lim_x: 1.0
+    acc_lim_theta: 2.0
+    turn_around_priority: True
+    stop_dist: 0.5
+    dec_dist: 1.0
+
+
+    # GoalTolerance
+
+    xy_goal_tolerance: 0.05
+    yaw_goal_tolerance: 0.05
+
+    # Optimization
+
+    # PP Parameters
+    w_vel: 0.9
+    w_omega: 1.12
+    # DWA Parameters
+    robot_max_v: 0.4
+    robot_max_w: 0.4
+    enable_backward_motion: False
+    w_targetheading: 1.7
+    w_velocity: 0.2
+    w_clearance: 0.2
+    w_pathDistance: 0.05
+    time_horizon: 3.0
+    velocity_resolution: 0.015
+
+    segment_transition_threshold: 0.01 # Ngưỡng khoảng cách chuyển segment
+    calibration_factor: 1.5 # Hệ số hiệu chuẩn
+    use_obstacle_avoidance: true # Bật tắt tránh vật cản