sua ten file

doc/architecture_discussion.md

@@ -93,8 +93,8 @@ flowchart TB
     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/>📍 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"]
+    Laser["<b>📡 Laser Sensors</b><br/>━━━━━━━━━━━━━━━━<br/>🔍 robot_sensor_msgs::LaserScan<br/>🚫 Obstacle Detection<br/>📏 Distance Measurement"]
+    Map["<b>🗺️ Map Server</b><br/>━━━━━━━━━━━━━━━━<br/>📋 robot_nav_msgs::OccupancyGrid<br/>🏗️ Static Map<br/>📐 Map Metadata"]
     style DataSources fill:#FFF9C4,stroke:#F57F17,stroke-width:4px,color:#000
     style Goal fill:#FFF59D,stroke:#F57F17,stroke-width:3px,font-size:12px
     style Loc fill:#FFF59D,stroke:#F57F17,stroke-width:3px,font-size:12px

doc/folders.md

@@ -6,16 +6,16 @@ Mô tả cấu trúc:
 │   │   ├── include/
 │   │   └── test/
 │   ├── CMakeLists.txt
-│   ├── nav_msgs/
+│   ├── robot_nav_msgs/
 │   │   ├── include/
 │   │   └── test/
 │   ├── CMakeLists.txt
-│   ├── sensor_msgs/
+│   ├── robot_sensor_msgs/
 │   │   ├── cfg/
 │   │   ├── include/
 │   │   └── test/
 │   ├── CMakeLists.txt
-│   ├── std_msgs/
+│   ├── robot_std_msgs/
 │   │   ├── include/
 │   │   └── CMakeLists.txt
 │   └── CMakeLists.txt (root)

doc/implementation_plan.md

@@ -76,7 +76,7 @@ class ILocalizationSource {
 **File:** `src/Navigations/Cores/move_base_core/include/move_base_core/map_provider.h`
 ```cpp
 class IMapProvider {
-  virtual nav_msgs::OccupancyGrid getMap() = 0;
+  virtual robot_nav_msgs::OccupancyGrid getMap() = 0;
   virtual bool isMapAvailable() = 0;
 };
 ```
@@ -85,7 +85,7 @@ class IMapProvider {
 **File:** `src/Navigations/Cores/move_base_core/include/move_base_core/sensor_source.h`
 ```cpp
 class ISensorSource {
-  virtual sensor_msgs::LaserScan getLatestScan() = 0;
+  virtual robot_sensor_msgs::LaserScan getLatestScan() = 0;
   virtual bool hasNewData() = 0;
 };
 ```