update

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

@@ -602,7 +602,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
 {
   // 1) Curvature from pure pursuit
   const double L2 = carrot_pose.pose.x * carrot_pose.pose.x + carrot_pose.pose.y * carrot_pose.pose.y;
-  const double L2_min = 0.05;          // m^2, chỉnh theo nhu cầu (0.02–0.1)
+  const double L2_min = 0.01;          // m^2, chỉnh theo nhu cầu (0.02–0.1)
   const double L2_safe = std::max(L2, L2_min);
   const double L = std::sqrt(L2_safe);
 
@@ -631,7 +631,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
     v_target = std::copysign(min_approach_linear_velocity, sign_x);
 
   // 5) Angular speed from curvature
-  double w_target = v_target * kappa;
+  double w_target = v_target * kappa + std::copysign(carrot_pose.pose.theta * dt, kappa);
   if(journey(trajectory.poses, 0, trajectory.poses.size() - 1) <= min_journey_squared_)
   {
     if (trajectory.poses.size() >= 2) {

src/Navigations/Packages/move_base/src/move_base.cpp

@@ -31,7 +31,9 @@
 #include <robot_sensor_msgs/PointCloud.h>
 #include <robot_sensor_msgs/PointCloud2.h>
 #include <robot_nav_2d_utils/conversions.h>
-#include <laser_filter/laser_filter.h>
+#ifndef BUILD_WITH_ROS
+  #include <laser_filter/laser_filter.h>
+#endif
 
 move_base::MoveBase::MoveBase()
   : initialized_(false),
@@ -500,6 +502,7 @@ robot_nav_msgs::OccupancyGrid move_base::MoveBase::getStaticMap(const std::strin
 void move_base::MoveBase::addLaserScan(const std::string &laser_scan_name, robot_sensor_msgs::LaserScan laser_scan)
 {
   auto it = laser_scans_.find(laser_scan_name);
+#ifndef BUILD_WITH_ROS
   laser_filter::LaserScanSOR sor;
   sor.setMeanK(10);              // xét 10 điểm láng giềng gần nhất
   sor.setStddevMulThresh(1.0);   // ngưỡng = mean + 1.0 * stddev
@@ -512,6 +515,16 @@ void move_base::MoveBase::addLaserScan(const std::string &laser_scan_name, robot
   {
     it->second = laser_scan_filter;
   }
+#else
+  if (it == laser_scans_.end())
+  {
+    laser_scans_[laser_scan_name] = laser_scan;
+  }
+  else
+  {
+    it->second = laser_scan;
+  }
+#endif
   // robot::log_info("stamp: %ld.%ld", laser_scan.header.stamp.sec, laser_scan.header.stamp.nsec);
   // robot::log_info("frame_id: %s", laser_scan.header.frame_id.c_str());
   // robot::log_info("angle_min: %f", laser_scan.angle_min);
@@ -534,8 +547,13 @@ void move_base::MoveBase::addLaserScan(const std::string &laser_scan_name, robot
   // }
   // robot::log_error("intensities: %s", intensities_str.str().c_str());
 
+#ifndef BUILD_WITH_ROS
   updateLocalCostmap<robot_sensor_msgs::LaserScan>(laser_scan_filter, robot_costmap_2d::LayerType::VOXEL_LAYER, laser_scan_name);
   updateGlobalCostmap<robot_sensor_msgs::LaserScan>(laser_scan_filter, robot_costmap_2d::LayerType::VOXEL_LAYER, laser_scan_name);
+#else
+  updateLocalCostmap<robot_sensor_msgs::LaserScan>(laser_scan, robot_costmap_2d::LayerType::VOXEL_LAYER, laser_scan_name);
+  updateGlobalCostmap<robot_sensor_msgs::LaserScan>(laser_scan, robot_costmap_2d::LayerType::VOXEL_LAYER, laser_scan_name);
+#endif
 }
 
 robot_sensor_msgs::LaserScan move_base::MoveBase::getLaserScan(const std::string &laser_scan_name)
@@ -1225,6 +1243,47 @@ bool move_base::MoveBase::dockTo(const std::string &marker, const robot_geometry
   }
   if (cancel_ctr_)
     cancel_ctr_ = false;
+  // Check if action server exists
+  if (!as_)
+  {
+    robot::log_error("[MoveBase::moveTo] as_ pointer is null!");
+    lock.unlock();
+    return false;
+  }
+
+  try
+  {
+    robot_move_base_msgs::MoveBaseActionGoalPtr action_goal = boost::make_shared<robot_move_base_msgs::MoveBaseActionGoal>();
+    action_goal->header.stamp = robot::Time::now();
+    action_goal->goal.target_pose = goal;
+    
+    // Generate unique goal ID using timestamp
+    robot::Time now = robot::Time::now();
+    action_goal->goal_id.stamp = now;
+    std::ostringstream goal_id_stream;
+    goal_id_stream << "move_base_goal_" << now.sec << "_" << now.nsec;
+    action_goal->goal_id.id = goal_id_stream.str();
+    
+    robot::log_info("[MoveBase::moveTo] Generated goal ID: %s", action_goal->goal_id.id.c_str());
+    robot::log_info("[MoveBase::moveTo] Goal stamp: %ld.%09ld", 
+                    action_goal->goal_id.stamp.sec, action_goal->goal_id.stamp.nsec);
+    
+    // Clear Order message since this is a non-Order moveTo call
+    {
+      boost::unique_lock<boost::recursive_mutex> planner_lock(planner_mutex_);
+      planner_order_.reset();
+    }
+    
+    robot::log_info("[MoveBase::moveTo] Processing goal through action server...");
+    as_->processGoal(action_goal);
+    robot::log_info("[MoveBase::moveTo] Goal processed successfully by action server");
+  }
+  catch (const std::exception &e)
+  {
+    lock.unlock();
+    robot::log_error("[MoveBase::moveTo] Exception during processGoal: %s", e.what());
+    return false;
+  }
 
   lock.unlock();
   return true;