update bug crash miss docking

.gitignore

@@ -422,3 +422,4 @@ build
 install
 devel
 
+obstacle

CATKIN_BUILD_README.md

@@ -20,11 +20,7 @@ The specified base path contains a CMakeLists.txt but "catkin_make" must be invo
 
 # Build trong workspace mới
 cd ../pnkx_nav_catkin_ws
-rm -rf build devel
-catkin_make -DCMAKE_BUILD_TYPE=RelWithDebInfo \
-  -DCMAKE_CXX_FLAGS="-fsanitize=address -fno-omit-frame-pointer" \
-  -DCMAKE_C_FLAGS="-fsanitize=address -fno-omit-frame-pointer" \
-  -DCMAKE_EXE_LINKER_FLAGS="-fsanitize=address"
+catkin_make
 source devel/setup.bash
 ```
 

CMAKE_BUILD_README.md

@@ -356,7 +356,8 @@ export PNKX_NAV_CORE_CONFIG_DIR=/path/to/config
 
 # Chỉ định workspace directory
 export PNKX_NAV_CORE_DIR=/path/to/pnkx_nav_core
- ] không install)
+
+# LD_LIBRARY_PATH (nếu không install)
 export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/path/to/pnkx_nav_core/build/lib
 ```
 

CMakeLists.txt

@@ -138,6 +138,22 @@ if (NOT TARGET pnkx_local_planner)
     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Algorithms/Packages/local_planners/pnkx_local_planner)
 endif()
 
+if (NOT TARGET robot_angles)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/obstacle/angles)
+endif()
+
+if (NOT TARGET grid_map_core)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/obstacle/grid_map_core)
+endif()
+
+if (NOT TARGET robot_base_local_planner)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/obstacle/base_local_planner)
+endif()
+
+if (NOT TARGET hybrid_local_planner)
+    add_subdirectory(${CMAKE_SOURCE_DIR}/obstacle/hybrid_local_planner)
+endif()
+
 if (NOT TARGET robot_actionlib_msgs)
     add_subdirectory(${CMAKE_SOURCE_DIR}/src/Navigations/Libraries/robot_actionlib_msgs)
 endif()

config/costmap_common_params.yaml

@@ -19,17 +19,33 @@ 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
+  observation_sources:  l_scan_marking l_scan_clearing r_scan_marking r_scan_clearing b_scan_marking b_scan_clearing
+  l_scan_marking:
+    topic: /l_scan
     data_type: LaserScan
     clearing: false
     marking: true
     inf_is_valid: true
     min_obstacle_height: 0.0
     max_obstacle_height: 0.25
-  f_scan_clearing:
-    topic: /f_scan
+  l_scan_clearing:
+    topic: /l_scan
+    data_type: LaserScan
+    clearing: true
+    marking: false
+    inf_is_valid: true
+    min_obstacle_height: 0.0
+    max_obstacle_height: 0.25
+  r_scan_marking:
+    topic: /r_scan
+    data_type: LaserScan
+    clearing: false
+    marking: true
+    inf_is_valid: true
+    min_obstacle_height: 0.0
+    max_obstacle_height: 0.25
+  r_scan_clearing:
+    topic: /r_scan
     data_type: LaserScan
     clearing: true
     marking: false
@@ -54,3 +70,4 @@ obstacles:
     max_obstacle_height: 0.25
   
 
+

config/costmap_global_params.yaml

@@ -4,7 +4,7 @@ global_costmap:
   global_frame: map
   update_frequency: 1.0
   publish_frequency: 1.0
-  raytrace_range: 2.0
+  raytrace_range: 3.5
   resolution: 0.05
   z_resolution: 0.2
   rolling_window: false

config/costmap_local_params.yaml

@@ -5,7 +5,7 @@ local_costmap:
   update_frequency: 6.0
   publish_frequency: 6.0
   rolling_window: true
-  raytrace_range: 2.0
+  raytrace_range: 3.5
   resolution: 0.05
   z_resolution: 0.15
   z_voxels: 8

config/hybrid_local_planner_params.yaml

@@ -0,0 +1,59 @@
+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
+
+    robot_max_v_ac: 0.4
+    robot_max_w_ac: 0.4
+    robot_max_v_pt: 1.0
+    robot_max_w_pt: 0.4
+    robot_max_v_backwards_pt: -0.2
+    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: 0.8
+    w_omega: 1.0
+    # DWA Parameters
+    enable_backward_motion: false
+    w_targetheading_ac: 1.7
+    w_velocity_ac: 0.2
+    w_clearance_ac: 0.2
+    w_pathDistance_ac: 0.05
+    w_smoothness_ac: 0.3
+    w_targetheading_pt: 0.2
+    w_velocity_pt: 0.8
+    w_clearance_pt: 0.1
+    w_pathDistance_pt: 2.1
+    w_smoothness_pt: 0.3
+    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

config/maker_sources.yaml

@@ -37,7 +37,7 @@ charger:
     - {name: charger, docking_planner: "DockPlanner", docking_nav: ""}
 
   charger:
-    maker_goal_frame: charger_goal
+    maker_goal_frame: charger
     footprint: [[0.583,-0.48],[0.583,0.48],[-0.583,0.48],[-0.583,-0.48]]
     delay: 1.5 # Cấm sửa không là không chạy được
     timeout: 60

config/move_base_common_params.yaml

@@ -30,7 +30,7 @@ max_planning_retries: 0     # ... or after 10 attempts (whichever happens first)
 oscillation_timeout: -1    # abort controller and trigger recovery behaviors after 30.0 s
 oscillation_distance: 0.5
 ### recovery behaviors
-recovery_behavior_enabled: false 
+recovery_behavior_enabled: true
 recovery_behaviors: [       
                       {name: aggressive_reset, type: ClearCostmapRecovery},
                       {name: conservative_reset, type: ClearCostmapRecovery},                      

config/pnkx_local_planner_params.yaml

@@ -1,4 +1,4 @@
-yaw_goal_tolerance: 0.02  
+yaw_goal_tolerance: 0.03  
 xy_goal_tolerance: 0.02 
 min_approach_linear_velocity: 0.05 
 
@@ -48,17 +48,17 @@ LimitedAccelGenerator:
   min_vel_y: 0.0  # diff drive robot
 
   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
+  min_speed_xy: 0.15    # min_trans_vel: 0.1  # this is the min trans velocity when there is negligible rotational velocity
 
   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: 3.0
+  acc_lim_x: 1.5
   acc_lim_y: 0.0      # diff drive robot
   acc_lim_theta: 1.5
-  decel_lim_x: -3.0
+  decel_lim_x: -1.5
   decel_lim_y: -0.0
-  decel_lim_theta: -2.0
+  decel_lim_theta: -1.5
 
   # Whether to split the path into segments or not
   split_path: true
@@ -74,8 +74,8 @@ LimitedAccelGenerator:
 
 MKTAlgorithmDiffPredictiveTrajectory:
   library_path: libmkt_algorithm_diff
-  xy_local_goal_tolerance: 0.05
-  angle_threshold: 0.6
+  xy_local_goal_tolerance: 0.02
+  angle_threshold: 0.47
   index_samples: 60
   follow_step_path: true
 
@@ -95,7 +95,7 @@ MKTAlgorithmDiffPredictiveTrajectory:
   min_lookahead_dist: 0.6                     # The minimum lookahead distance (m) threshold. (default: 0.3)
   max_lookahead_dist: 2.0                     # The maximum lookahead distance (m) threshold. (default: 0.9)   
   lookahead_time: 1.9                        # The time (s) to project the velocity by, a.k.a. lookahead gain. (default: 1.5)
-  min_journey_squared: 0.35                    # Minimum squared journey to consider for goal (default: 0.2) 
+  min_journey_squared: 0.2                    # Minimum squared journey to consider for goal (default: 0.2) 
   max_journey_squared: 0.5                    # Maximum squared journey to consider for goal (default: 0.2) 
   max_lateral_accel: 0.9                      # Max lateral accel for speed reduction on curves (m/s^2)
 
@@ -119,7 +119,7 @@ MKTAlgorithmDiffPredictiveTrajectory:
 
 MKTAlgorithmDiffGoStraight:
   library_path: libmkt_algorithm_diff
-  xy_local_goal_tolerance: 0.05
+  xy_local_goal_tolerance: 0.02
   angle_threshold: 0.8
   index_samples: 60
   follow_step_path: true
@@ -156,7 +156,7 @@ MKTAlgorithmDiffGoStraight:
 
 MKTAlgorithmDiffRotateToGoal:
   library_path: libmkt_algorithm_diff
-  xy_local_goal_tolerance: 0.05
+  xy_local_goal_tolerance: 0.02
   angle_threshold: 0.47
   index_samples: 60
   follow_step_path: true

src/APIs/c_api/src/nav_c_api.cpp

@@ -569,16 +569,10 @@ extern "C" bool navigation_set_twist_linear(NavigationHandle handle,
       return false;
 
     robot_geometry_msgs::Vector3 linear;
-    linear.x = 0.1;
+    linear.x = linear_x;
     linear.y = linear_y;
     linear.z = linear_z;
-    bool result = nav_ptr->setTwistLinear(linear);
-    robot::log_info("setTwistLinear Forward %f", linear.x);
-    
-    linear.x = -0.1;
-    result &= result && nav_ptr->setTwistLinear(linear);
-    robot::log_info("setTwistLinear Backward %f", linear.x);
-    return result;
+    return nav_ptr->setTwistLinear(linear);
   }
   catch (...)
   {

src/Algorithms/Cores/score_algorithm/src/score_algorithm.cpp

@@ -219,12 +219,11 @@ bool score_algorithm::ScoreAlgorithm::computePlanCommand(const robot_nav_2d_msgs
         double x = cos(global_plan.poses[index_s[i - 1]].pose.theta) * dx + sin(global_plan.poses[index_s[i - 1]].pose.theta) * dy;
         double y = -sin(global_plan.poses[index_s[i - 1]].pose.theta) * dx + cos(global_plan.poses[index_s[i - 1]].pose.theta) * dy;
 
-        if (std::abs(std::sqrt(dx * dx + dy * dy)) <= xy_local_goal_tolerance_ + 0.2)
+        if (std::abs(std::sqrt(dx * dx + dy * dy)) <= xy_local_goal_tolerance_ + 0.1)
         {
           double tolerance = fabs(cos(theta)) >= fabs(sin(theta)) ? x : y;
           if (fabs(tolerance) <= xy_local_goal_tolerance_)
           {
-
             if (index_s[i] > sub_goal_index_saved_)
             {
               sub_goal_index = (i < index_s.size() - 1) ? index_s[i] : (unsigned int)global_plan.poses.size() - 1;
@@ -258,7 +257,7 @@ bool score_algorithm::ScoreAlgorithm::computePlanCommand(const robot_nav_2d_msgs
         double theta = angles::normalize_angle(robot_pose.pose.theta - global_plan.poses[sub_goal_index].pose.theta);
         double x = cos(global_plan.poses[sub_goal_index].pose.theta) * dx + sin(global_plan.poses[sub_goal_index].pose.theta) * dy;
         double y = -sin(global_plan.poses[sub_goal_index].pose.theta) * dx + cos(global_plan.poses[sub_goal_index].pose.theta) * dy;
-        if (std::abs(std::sqrt(dx * dx + dy * dy)) <= xy_local_goal_tolerance_ + 0.2)
+        if (std::abs(std::sqrt(dx * dx + dy * dy)) <= xy_local_goal_tolerance_ + 0.1)
         {
           double tolerance = fabs(cos(theta)) >= fabs(sin(theta)) ? x : y;
           if (fabs(tolerance) <= xy_local_goal_tolerance_)
@@ -416,7 +415,7 @@ bool score_algorithm::ScoreAlgorithm::computePlanCommand(const robot_nav_2d_msgs
   robot_nav_2d_msgs::Pose2DStamped sub_pose;
   sub_pose = global_plan.poses[closet_index];
 
-#ifdef BUILD_WITH_ROS
+#ifdef SCORE_ALGORITHM_WITH_ROS
   {
     robot_geometry_msgs::PoseStamped sub_pose_stamped = robot_nav_2d_utils::pose2DToPoseStamped(sub_pose);
     geometry_msgs::PoseStamped sub_pose_stamped_ros;
@@ -424,7 +423,7 @@ bool score_algorithm::ScoreAlgorithm::computePlanCommand(const robot_nav_2d_msgs
     sub_pose_stamped_ros.header.frame_id = sub_pose_stamped.header.frame_id;
     sub_pose_stamped_ros.pose.position.x = sub_pose_stamped.pose.position.x;
     sub_pose_stamped_ros.pose.position.y = sub_pose_stamped.pose.position.y;
-    sub_pose_stamped_ros.pose.position.z = 0.9;
+    sub_pose_stamped_ros.pose.position.z = sub_pose_stamped.pose.position.z;
     sub_pose_stamped_ros.pose.orientation.x = sub_pose_stamped.pose.orientation.x;
     sub_pose_stamped_ros.pose.orientation.y = sub_pose_stamped.pose.orientation.y;
     sub_pose_stamped_ros.pose.orientation.z = sub_pose_stamped.pose.orientation.z;
@@ -435,7 +434,7 @@ bool score_algorithm::ScoreAlgorithm::computePlanCommand(const robot_nav_2d_msgs
 
   robot_nav_2d_msgs::Pose2DStamped sub_goal;
   sub_goal = global_plan.poses[goal_index];
-#ifdef BUILD_WITH_ROS
+#ifdef SCORE_ALGORITHM_WITH_ROS
   {
     robot_geometry_msgs::PoseStamped sub_goal_stamped = robot_nav_2d_utils::pose2DToPoseStamped(sub_goal);
     geometry_msgs::PoseStamped sub_goal_stamped_ros;
@@ -443,7 +442,7 @@ bool score_algorithm::ScoreAlgorithm::computePlanCommand(const robot_nav_2d_msgs
     sub_goal_stamped_ros.header.frame_id = sub_goal_stamped.header.frame_id;
     sub_goal_stamped_ros.pose.position.x = sub_goal_stamped.pose.position.x;
     sub_goal_stamped_ros.pose.position.y = sub_goal_stamped.pose.position.y;
-    sub_goal_stamped_ros.pose.position.z = 0.9;
+    sub_goal_stamped_ros.pose.position.z = sub_goal_stamped.pose.position.z;
     sub_goal_stamped_ros.pose.orientation.x = sub_goal_stamped.pose.orientation.x;
     sub_goal_stamped_ros.pose.orientation.y = sub_goal_stamped.pose.orientation.y;
     sub_goal_stamped_ros.pose.orientation.z = sub_goal_stamped.pose.orientation.z;

src/Algorithms/Libraries/mkt_algorithm/include/mkt_algorithm/diff/diff_predictive_trajectory.h

@@ -117,7 +117,9 @@ namespace mkt_algorithm
        * @return lookahead point
        */
       std::vector<robot_nav_2d_msgs::Pose2DStamped>::iterator
-      getLookAheadPoint(const robot_nav_2d_msgs::Twist2D &velocity, const double &lookahead_dist, robot_nav_2d_msgs::Path2D global_plan);
+      getLookAheadPoint(const robot_nav_2d_msgs::Twist2D &velocity, 
+                        const double &lookahead_dist, 
+                        robot_nav_2d_msgs::Path2D& global_plan);
 
       /**
        * @brief Prune global plan
@@ -181,7 +183,7 @@ namespace mkt_algorithm
        */
       robot_nav_2d_msgs::Path2D generateTrajectory(  
         const robot_nav_2d_msgs::Path2D &path, const robot_nav_2d_msgs::Twist2D &drive_target,
-        const robot_nav_2d_msgs::Twist2D &velocity, const double &sign_x, robot_nav_2d_msgs::Twist2D &drive_cmd, const double &dt);
+        const robot_nav_2d_msgs::Twist2D &velocity, const double &sign_x, robot_nav_2d_msgs::Twist2D &drive_cmd);
 
       /**
        * @brief Generate trajectory

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

@@ -131,19 +131,19 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::GoStraight::calculator(
   auto carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
   robot_geometry_msgs::PoseStamped carrot_pose_stamped = robot_nav_2d_utils::pose2DToPoseStamped(carrot_pose);
   
-//   // === Final Heading Alignment Check ===
-//   double xy_error = 0.0, heading_error = 0.0;
-//   if (shouldAlignToFinalHeading(transformed_plan, carrot_pose, velocity, xy_error, heading_error, sign_x))
-//   {
-//     // Use Arc Motion controller for final heading alignment
-//     alignToFinalHeading(xy_error, heading_error, velocity, sign_x, dt, drive_cmd);
-// #ifdef BUILD_WITH_ROS
-//     ROS_INFO("xy_err=%.3f, heading_err=%.3f deg, v=%.3f, w_current=%.3f, w_target=%.3f",
-//                       xy_error, heading_error * 180.0 / M_PI, drive_cmd.x, velocity.theta, drive_cmd.theta);
-// #endif
-//   }
-//   else
-//   {
+  // === Final Heading Alignment Check ===
+  double xy_error = 0.0, heading_error = 0.0;
+  if (shouldAlignToFinalHeading(transformed_plan, carrot_pose, velocity, xy_error, heading_error, sign_x))
+  {
+    // Use Arc Motion controller for final heading alignment
+    alignToFinalHeading(xy_error, heading_error, velocity, sign_x, dt, drive_cmd);
+#ifdef BUILD_WITH_ROS
+    ROS_INFO("xy_err=%.3f, heading_err=%.3f deg, v=%.3f, w_current=%.3f, w_target=%.3f",
+                      xy_error, heading_error * 180.0 / M_PI, drive_cmd.x, velocity.theta, drive_cmd.theta);
+#endif
+  }
+  else
+  {
     // robot::log_info_at(__FILE__, __LINE__, "journey : %f lookahead_dist : %f", 
     //   journey(transformed_plan.poses, 0, transformed_plan.poses.size() - 1), lookahead_dist);
     if(fabs(carrot_pose.pose.y) > 0.2)
@@ -151,7 +151,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::GoStraight::calculator(
       lookahead_dist = sqrt(carrot_pose.pose.y *carrot_pose.pose.y + lookahead_dist * lookahead_dist);
     }
     robot_nav_2d_msgs::Twist2D drive_target;
-    transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target, dt);
+    transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target);
     carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
 
     // Normal Pure Pursuit
@@ -164,7 +164,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::GoStraight::calculator(
     sign_x, 
     dt, 
     drive_cmd);
-  // }
+  }
   applyDistanceSpeedScaling(compute_plan_, velocity, drive_cmd, sign_x, dt);
 
   if (this->nav_stop_)

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

@@ -279,6 +279,7 @@ bool mkt_algorithm::diff::PredictiveTrajectory::prepare(const robot_nav_2d_msgs:
                                                         const robot_nav_2d_msgs::Pose2DStamped &goal, const robot_nav_2d_msgs::Path2D &global_plan,
                                                         double &x_direction, double &y_direction, double &theta_direction)
 {
+  // robot::log_error("DEBUG STEP 2.0");
   if (!initialized_)
   {
     robot::log_error("[%s:%d]\n This planner has not been initialized, please call initialize() before using this planner", __FILE__, __LINE__);
@@ -288,7 +289,7 @@ bool mkt_algorithm::diff::PredictiveTrajectory::prepare(const robot_nav_2d_msgs:
   {
     last_actuator_update_ = robot::Time::now();
   }
-
+  // robot::log_error("DEBUG STEP 3.0");
   std::vector<robot_geometry_msgs::Point> footprint = costmap_robot_ ? costmap_robot_->getRobotFootprint() : std::vector<robot_geometry_msgs::Point>();
   if (footprint.size() > 1)
   {
@@ -311,14 +312,14 @@ bool mkt_algorithm::diff::PredictiveTrajectory::prepare(const robot_nav_2d_msgs:
     this->min_path_distance_ = min_length > 0.1 ? min_length : 0.1;
     this->max_path_distance_ = max_length > 0.1 ? max_length : 0.1;
   }
-
+  // robot::log_error("DEBUG STEP 4.0");
   if (global_plan.poses.empty() || (unsigned int)global_plan.poses.size() < 2)
   {
     robot::log_error("[%s:%d]\n The Local plan is empty or less than 1 points %d", __FILE__, __LINE__, (unsigned int)global_plan.poses.size());
     return false;
   }
   this->getParams();
-
+  // robot::log_error("DEBUG STEP 5.0");
   frame_id_path_ = global_plan.header.frame_id;
   goal_ = goal;
   global_plan_ = global_plan;
@@ -329,14 +330,14 @@ bool mkt_algorithm::diff::PredictiveTrajectory::prepare(const robot_nav_2d_msgs:
     robot::log_error("[%s:%d]\n pruneGlobalPlan Failed", __FILE__, __LINE__);
     return false;
   }
-
+  // robot::log_error("DEBUG STEP 6.0");
   double S = std::numeric_limits<double>::infinity();
   S = std::max(costmap_robot_->getCostmap()->getSizeInCellsX() * costmap_robot_->getCostmap()->getResolution() / 2.0,
                costmap_robot_->getCostmap()->getSizeInCellsY() * costmap_robot_->getCostmap()->getResolution() / 2.0);
   const double min_S = min_lookahead_dist_ * 1.5 + max_path_distance_, max_S = max_lookahead_dist_ * 1.5 + max_path_distance_;
   S = std::clamp(S * fabs(velocity.x) * lookahead_time_, min_S, max_S);
   compute_plan_.poses.clear();
-
+  // robot::log_error("DEBUG STEP 7.0");
   if ((unsigned int)global_plan_.poses.size() == 2)
   {
     double dx = global_plan_.poses.back().pose.x - global_plan_.poses.front().pose.x;
@@ -360,6 +361,7 @@ bool mkt_algorithm::diff::PredictiveTrajectory::prepare(const robot_nav_2d_msgs:
       return false;
     }
   }
+  // robot::log_error("DEBUG STEP 8.0");
 
   double lookahead_dist = this->getLookAheadDistance(velocity);
   transform_plan_.poses.clear();
@@ -368,7 +370,7 @@ bool mkt_algorithm::diff::PredictiveTrajectory::prepare(const robot_nav_2d_msgs:
     robot::log_warning("[%s:%d]\n Could not transform the global plan to the frame of the controller", __FILE__, __LINE__);
     return false;
   }
-
+  // robot::log_error("DEBUG STEP 9.0");
   const auto carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transform_plan_);
   if(fabs(carrot_pose.pose.y) > 0.2)
   {
@@ -379,14 +381,15 @@ bool mkt_algorithm::diff::PredictiveTrajectory::prepare(const robot_nav_2d_msgs:
       return false;
     } 
   }  
-
+  // robot::log_error("DEBUG STEP 10.0");
   x_direction = x_direction_;
   y_direction = y_direction_ = 0;
   theta_direction = theta_direction_;
-
+  // robot::log_error("DEBUG STATUS : %x, %x", (unsigned int)(compute_plan_.poses.size() > 1), journey(compute_plan_.poses, 0, compute_plan_.poses.size() - 1) >= costmap_robot_->getCostmap()->getResolution());
   if ((unsigned int)(compute_plan_.poses.size() > 1) && 
       journey(compute_plan_.poses, 0, compute_plan_.poses.size() - 1) >= costmap_robot_->getCostmap()->getResolution())
   {
+    // robot::log_error("DEBUG STEP 10.1");
     const robot_geometry_msgs::Pose2D p2 = compute_plan_.poses.back().pose;
     int index;
     for (index = (unsigned int)(compute_plan_.poses.size() - 1); index > 0; index--)
@@ -405,50 +408,54 @@ bool mkt_algorithm::diff::PredictiveTrajectory::prepare(const robot_nav_2d_msgs:
     }
     
   }
-  else if(compute_plan_.poses.size() == 1)
+  else
   {
+    // robot::log_error("DEBUG STEP 11.1");
     try
     {
-      // auto carrot_pose_it = getLookAheadPoint(velocity, lookahead_dist, transform_plan_);
-      // auto prev_carrot_pose_it = transform_plan_.poses.begin();
-      // double distance_it = 0;
-      // for (auto it = carrot_pose_it - 1; it != transform_plan_.poses.begin(); --it)
-      // {
-      //   double dx = it->pose.x - carrot_pose_it->pose.x;
-      //   double dy = it->pose.y - carrot_pose_it->pose.y;
-      //   distance_it += std::hypot(dx, dy);
-      //   if (distance_it > costmap_robot_->getCostmap()->getResolution())
-      //   {
-      //     prev_carrot_pose_it = it;
-      //     break;
-      //   }
-      // }
       
-      // robot_geometry_msgs::Pose front = journey(transform_plan_.poses, 0, transform_plan_.poses.size() - 1) > 5.0 * costmap_robot_->getCostmap()->getResolution()
-      //                                 ? robot_nav_2d_utils::pose2DToPose((*(prev_carrot_pose_it)).pose)
-      //                                 : robot_nav_2d_utils::pose2DToPose(robot_geometry_msgs::Pose2D());
+      auto carrot_pose_it = getLookAheadPoint(velocity, lookahead_dist, transform_plan_);
+      // robot::log_error("DEBUG STEP 11.2");
+      auto prev_carrot_pose_it = transform_plan_.poses.begin();
+      // robot::log_error("DEBUG STEP 11.2.1 carrot_pose_it: %d", (int)std::distance(transform_plan_.poses.begin(), carrot_pose_it));
+      double distance_it = 0;
 
-      // robot_geometry_msgs::Pose back = robot_nav_2d_utils::pose2DToPose((*(carrot_pose_it)).pose);
+      auto it = carrot_pose_it == transform_plan_.poses.begin() ? transform_plan_.poses.end() : carrot_pose_it - 1;
 
+      for ( ; it != transform_plan_.poses.begin(); --it)
+      {
+        double dx = it->pose.x - carrot_pose_it->pose.x;
+        double dy = it->pose.y - carrot_pose_it->pose.y;
+        distance_it += std::hypot(dx, dy);
+        if (distance_it > costmap_robot_->getCostmap()->getResolution())
+        {
+          prev_carrot_pose_it = it;
+          break;
+        }
+      }
+      // robot::log_error("DEBUG STEP 11.3");
+
+      robot_geometry_msgs::Pose front = journey(transform_plan_.poses, 0, transform_plan_.poses.size() - 1) > 5.0 * costmap_robot_->getCostmap()->getResolution()
+                                      ? robot_nav_2d_utils::pose2DToPose((*(prev_carrot_pose_it)).pose)
+                                      : robot_nav_2d_utils::pose2DToPose(robot_geometry_msgs::Pose2D());
+
+      robot_geometry_msgs::Pose back = robot_nav_2d_utils::pose2DToPose((*(carrot_pose_it)).pose);
+      // robot::log_error("DEBUG STEP 11.4");
       // teb_local_planner::PoseSE2 start_pose(front);
       // teb_local_planner::PoseSE2 goal_pose(back);
       // const double dir_path = (goal_pose.position() - start_pose.position()).dot(start_pose.orientationUnitVec());
-
-      
-      auto goal_pose = compute_plan_.poses.front().pose;
-      auto start_pose = pose.pose;
-      double angle_path = atan2(goal_pose.y - start_pose.y, goal_pose.x - start_pose.x);
-      double dir_path = cos(fabs(angle_path - goal_pose.theta));
+      const double dir_path = 0.0;
       if (fabs(dir_path) > M_PI / 6 || x_direction < 1e-9)
         x_direction = dir_path > 0 ? FORWARD : BACKWARD;
+      // robot::log_error("DEBUG STEP 11.5");
     }
     catch (std::exception &e)
     {
-      robot::log_warning_throttle(0.2, "[%s:%d]\n getLookAheadPoint throw an exception: %s", __FILE__, __LINE__, e.what());
-      x_direction = x_direction_; 
+      robot::log_error("[%s:%d]\n getLookAheadPoint throw an exception: %s", __FILE__, __LINE__, e.what());
+      return false;
     }
   }
-
+  // robot::log_error("DEBUG STEP 11.0");
   x_direction_ = x_direction;
   y_direction_ = y_direction;
   theta_direction_ = theta_direction;
@@ -482,8 +489,8 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
     twist = traj_->nextTwist();
   }
   double v_max = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
-  drive_cmd.x = std::min(sqrt(twist.x * twist.x),  fabs(v_max));
-  // drive_cmd.x = sqrt(twist.x * twist.x);
+  // drive_cmd.x = std::min(sqrt(twist.x * twist.x),  fabs(v_max));
+  drive_cmd.x = sqrt(twist.x * twist.x);
   
   robot_nav_2d_msgs::Path2D transformed_plan = this->transform_plan_;
   if (transformed_plan.poses.empty())
@@ -520,11 +527,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
   const double distance_allow_rotate = min_journey_squared_;
   const double path_distance_to_rotate = journey(transformed_plan.poses, 0, transformed_plan.poses.size() - 1);
   allow_rotate |= path_distance_to_rotate >= distance_allow_rotate;
-  robot_geometry_msgs::Pose2D back_pose = transformed_plan.poses.back().pose;
-  allow_rotate |= fabs(atan2(back_pose.y, back_pose.x) - back_pose.theta) > M_PI / 6.0;
-
-  allow_rotate &= (fabs(transformed_plan.poses.front().pose.y) <= 0.5);
-
+  allow_rotate &= std::hypot(compute_plan_.poses.front().pose.x - pose.pose.x, compute_plan_.poses.front().pose.y - pose.pose.y) <= 0.1;
   double angle_to_heading;
   if (allow_rotate && shouldRotateToPath(transformed_plan, carrot_pose, velocity, angle_to_heading, sign_x))
   {
@@ -554,7 +557,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
 //     else
 //     {
       robot_nav_2d_msgs::Twist2D drive_target = drive_cmd;
-      transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target, dt);
+      transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target);
       carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
       
       // Normal Pure Pursuit
@@ -581,7 +584,6 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
       result.velocity = drive_cmd;
       return result;
     }
-    
   }
   result.poses.clear();
   result.poses.reserve(transformed_plan.poses.size());
@@ -595,11 +597,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
   }
 
   if(fabs(v_max == 0.0))
-  {
     drive_cmd.x = 0.0;
-    robot::log_warning_throttle(0.2, "[%s:%d]\n v_max is 0.0", __FILE__, __LINE__);
-    return result;
-  }
   result.velocity = drive_cmd;
   prevous_drive_cmd_ = drive_cmd;
   return result;
@@ -625,15 +623,15 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
 
   // 3) Adjust speed using Hermite trajectory curvature + remaining distance
   double v_target = adjustSpeedWithHermiteTrajectory(velocity, trajectory, drive_target.x, sign_x);
-  // const double L_min = 0.1;  // m, chỉnh theo nhu cầu
-  // double scale_close = std::clamp(L / L_min, 0.0, 1.0);
-  // v_target *= scale_close;
+  const double L_min = 0.1;  // m, chỉnh theo nhu cầu
+  double scale_close = std::clamp(L / L_min, 0.0, 1.0);
+  v_target *= scale_close;
   const double y_abs = std::fabs(carrot_pose.pose.y);
   const double y_soft = 0.1;
   if (y_abs > y_soft) 
   {
     double scale = y_soft / y_abs;  // y càng lớn => scale càng nhỏ
-    scale = std::clamp(scale, 0.6, 1.0); // không giảm quá sâu
+    scale = std::clamp(scale, 0.2, 1.0); // không giảm quá sâu
     v_target *= scale;
     robot_nav_2d_msgs::Twist2D cmd, result;
     cmd.x = v_target;
@@ -644,6 +642,9 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
   // 4) Maintain minimum approach speed
   if (std::fabs(v_target) < min_approach_linear_velocity)
     v_target = std::copysign(min_approach_linear_velocity, sign_x);
+
+  std::stringstream ss;
+
   // 5) Angular speed from curvature
   double w_target = v_target * kappa;
   if(journey(trajectory.poses, 0, trajectory.poses.size() - 1) <= min_journey_squared_)
@@ -661,6 +662,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
           if(fabs(dx) < 1e-6 && fabs(dy) < 1e-6)
             continue;
           heading_ref = std::atan2(dy, dx);
+          ss << "error " << heading_ref << " ";
           if(sign_x < 0.0)
           heading_ref += std::copysign(M_PI, heading_ref) * (-1.0);
           break;
@@ -668,6 +670,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
       }
 
       const double error = heading_ref;
+      ss << error << " ";
       double w_heading = 0.0;
       pid(error, 
         near_goal_heading_integral_, 
@@ -679,8 +682,8 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
         w_heading);
       // Apply acceleration limits
       double dw_heading = std::clamp(w_heading - velocity.theta, -acc_lim_theta_ * dt, acc_lim_theta_ * dt);
+      ss << "dw_heading " << dw_heading << " ";
       w_target = velocity.theta + dw_heading;
-      w_target = std::clamp(w_target, -fabs(drive_target.theta), fabs(drive_target.theta));
     }
     else
     {
@@ -692,6 +695,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
   {
     near_goal_heading_was_active_ = false;
   }
+  
   w_target = std::clamp(w_target, -fabs(drive_target.theta), fabs(drive_target.theta));
 
   // 6) Apply acceleration limits (linear + angular)
@@ -719,8 +723,8 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
   drive_cmd.x = std::clamp(kf_->state()[0], -fabs(v_target), fabs(v_target));
   drive_cmd.x = fabs(drive_cmd.x) >= v_min ? drive_cmd.x : std::copysign(v_min, sign_x);
   if (kf_filter_angular_)
-    drive_cmd.theta = std::clamp(kf_->state()[3], -fabs(drive_target.theta), fabs(drive_target.theta));
-  // robot::log_info("drive_cmd.theta: %f, drive_target.theta: %f", drive_cmd.theta, drive_target.theta);
+    drive_cmd.theta = std::clamp(kf_->state()[3], -max_vel_theta_, max_vel_theta_);
+  // robot::log_info("%s", ss.str().c_str());
 }
 
 void mkt_algorithm::diff::PredictiveTrajectory::applyDistanceSpeedScaling(
@@ -744,9 +748,8 @@ void mkt_algorithm::diff::PredictiveTrajectory::applyDistanceSpeedScaling(
     double cosine_factor = 0.5 * (1.0 + std::cos(M_PI * (1.0 - r)));
     target_speed = max_speed * cosine_factor;
   }
-  const double v_limited = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
-  const double v_min = std::min(fabs(v_limited), min_speed_xy_);
-  double reduce_speed = std::min(max_speed, v_min);
+
+  double reduce_speed = std::min(max_speed, min_speed_xy_);
   if (s < S_final)
   {
     double r = std::clamp(s / S_final, 0.0, 1.0);
@@ -779,16 +782,15 @@ bool mkt_algorithm::diff::PredictiveTrajectory::shouldRotateToPath(
   // const double max_kappa = calculateMaxKappa(global_plan);
   // const bool curvature = max_kappa > straight_threshold;
   double path_angle = std::atan2(carrot_pose.pose.y, carrot_pose.pose.x);
-  if(is_stopped && global_plan.poses.size() >= 4 &&
-  journey(global_plan.poses, 0, global_plan.poses.size() - 1) >= 0.7 * min_lookahead_dist_)
+  if(is_stopped && global_plan.poses.size() >= 2)
   {
-    const auto& p1 = global_plan.poses[2];
-    for(int i = 3; i < global_plan.poses.size(); i++)
+    const auto& p1 = global_plan.poses[1];
+    for(int i = 2; i < global_plan.poses.size(); i++)
     {
       const auto& p = global_plan.poses[i];
       const auto& dx = p.pose.x - p1.pose.x;
       const auto& dy = p.pose.y - p1.pose.y;
-      if(std::hypot(dx, dy) > costmap_robot_->getCostmap()->getResolution())
+      if(std::hypot(p.pose.x, p.pose.y) > costmap_robot_->getCostmap()->getResolution())
       {
         if(fabs(dx) < 1e-9 && fabs(dy) < 1e-9)
           continue;
@@ -799,10 +801,9 @@ bool mkt_algorithm::diff::PredictiveTrajectory::shouldRotateToPath(
   }
   
   // Whether we should rotate robot to rough path heading
-  // if(sign_x < 0.0)
-  //   path_angle += std::copysign(M_PI, path_angle) * (-1.0);
-  // angle_to_path = path_angle;
-  angle_to_path = sign_x < 0.0 ? angles::normalize_angle(M_PI + path_angle) : path_angle;
+  if(sign_x < 0.0)
+    path_angle += std::copysign(M_PI, path_angle) * (-1.0);
+  angle_to_path = path_angle;
   double heading_linear = sqrt(velocity.x * velocity.x + velocity.y * velocity.y);
   // The difference in the path orientation and the starting robot orientation (radians) to trigger a rotate in place. (default: 0.785)
   double heading_rotate = rotate_to_heading_min_angle_;
@@ -818,9 +819,12 @@ bool mkt_algorithm::diff::PredictiveTrajectory::shouldRotateToPath(
 #ifdef BUILD_WITH_ROS
   if (result)
     ROS_WARN_THROTTLE(0.1, "angle_to_path: %f, heading_rotate: %f, is_stopped: %x %x, sign_x: %f", angle_to_path, heading_rotate, is_stopped, sign(angle_to_path) * sign_x < 0, sign_x);
-#else
-  if (result)
-    robot::log_info_throttle(0.1, "angle_to_path: %f, heading_rotate: %f, is_stopped: %x %x, sign_x: %f", angle_to_path, heading_rotate, is_stopped, sign(angle_to_path) * sign_x < 0, sign_x);
+
+  // else if(fabs(velocity.x) < min_speed_xy_)
+  // {
+  //   ROS_INFO_THROTTLE(0.1, "velocity.x: %f, velocity.theta: %f, ", velocity.x, velocity.theta);
+  //   ROS_INFO_THROTTLE(0.1, "angle_to_path: %f, heading_rotate: %f, is_stopped: %x %x, sign_x: %f", angle_to_path, heading_rotate, is_stopped, sign(angle_to_path) * sign_x < 0, sign_x);
+  // }
 #endif
   return result;
 }
@@ -957,10 +961,8 @@ void mkt_algorithm::diff::PredictiveTrajectory::alignToFinalHeading(
   // --- Linear velocity calculation ---
   // Base velocity proportional to distance, with minimum for smooth motion
   double v_base = std::sqrt(2.0 * std::fabs(decel_lim_x_) * xy_error);
-  const double v_limited = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
-  const double v_min = std::min(fabs(v_limited), min_speed_xy_);
   v_base = std::max(v_base, final_heading_min_velocity_);
-  v_base = std::min(v_base, v_min);
+  v_base = std::min(v_base, min_speed_xy_);
 
   // Scale down when heading error is large (prioritize rotation)
   double heading_scale = 1.0;
@@ -1032,7 +1034,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::alignToFinalHeading(
   cmd_vel.theta = omega_current + domega;
 
   // --- Apply velocity limits ---
-  cmd_vel.x = std::clamp(cmd_vel.x, -v_min, v_min);
+  cmd_vel.x = std::clamp(cmd_vel.x, -min_speed_xy_, min_speed_xy_);
   cmd_vel.theta = std::clamp(cmd_vel.theta, -max_vel_theta_, max_vel_theta_);
 
   // --- Safety: ensure we can stop ---
@@ -1084,7 +1086,8 @@ double mkt_algorithm::diff::PredictiveTrajectory::getLookAheadDistance(const rob
 }
 
 std::vector<robot_nav_2d_msgs::Pose2DStamped>::iterator
-mkt_algorithm::diff::PredictiveTrajectory::getLookAheadPoint(const robot_nav_2d_msgs::Twist2D &velocity, const double &lookahead_dist, robot_nav_2d_msgs::Path2D global_plan)
+mkt_algorithm::diff::PredictiveTrajectory::getLookAheadPoint(const robot_nav_2d_msgs::Twist2D &velocity, 
+  const double &lookahead_dist, robot_nav_2d_msgs::Path2D& global_plan)
 {
   if (global_plan.poses.empty())
     throw robot_nav_core2::PlannerTFException("The global plan passed to the local planner is empty.");
@@ -1121,9 +1124,104 @@ mkt_algorithm::diff::PredictiveTrajectory::getLookAheadPoint(const robot_nav_2d_
   if (goal_pose_it == global_plan.poses.end())
     goal_pose_it = std::prev(global_plan.poses.end());
 
+  // --- Final safety check ---
+  if (goal_pose_it < global_plan.poses.begin() || goal_pose_it >= global_plan.poses.end())
+  {
+    // fallback cuối cùng
+    goal_pose_it = std::prev(global_plan.poses.end());
+  }
+
   return goal_pose_it;
 }
 
+// std::vector<robot_nav_2d_msgs::Pose2DStamped>::iterator
+// mkt_algorithm::diff::PredictiveTrajectory::getLookAheadPoint(
+//     const robot_nav_2d_msgs::Twist2D &velocity,
+//     const double &lookahead_dist,
+//     robot_nav_2d_msgs::Path2D &global_plan)
+// {
+//   auto &poses = global_plan.poses;
+
+//   // --- Guard ---
+//   if (poses.empty())
+//     throw robot_nav_core2::PlannerTFException("The global plan is empty.");
+
+//   if (poses.size() == 1)
+//     return poses.begin();
+
+//   if (poses.size() == 2)
+//     return std::prev(poses.end());
+
+//   // --- Init ---
+//   size_t goal_index = poses.size() - 1;
+
+//   const auto &p0 = poses[0].pose;
+//   const auto &p1 = poses[1].pose;
+
+//   double start_angle = atan2(p1.y - p0.y, p1.x - p0.x);
+//   double turn_threshold = M_PI_2 * 0.6;
+
+//   // --- Detect turn ---
+//   for (size_t i = 1; i < poses.size(); ++i)
+//   {
+//     const auto &a = poses[i - 1].pose;
+//     const auto &b = poses[i].pose;
+
+//     double current_angle = atan2(b.y - a.y, b.x - a.x);
+//     double delta = angles::normalize_angle(current_angle - start_angle);
+
+//     goal_index = i;
+
+//     if (fabs(delta) >= turn_threshold)
+//       break;
+//   }
+
+//   // --- Clamp goal_index ---
+//   if (goal_index >= poses.size())
+//     goal_index = poses.size() - 1;
+
+//   // --- Safe search range ---
+//   auto search_begin = poses.begin();
+
+//   // ❗ IMPORTANT: +1 để iterator hợp lệ
+//   auto search_end = poses.begin() + goal_index + 1;
+
+//   if (search_end > poses.end())
+//     search_end = poses.end();
+
+//   // --- Find lookahead ---
+//   double accumulated_dist = 0.0;
+//   auto goal_pose_it = search_begin;
+//   for (auto it = search_begin + 1; it != search_end; ++it)
+//   {
+//     double dx = it->pose.x - std::prev(it)->pose.x;
+//     double dy = it->pose.y - std::prev(it)->pose.y;
+//     accumulated_dist += std::hypot(dx, dy);
+//     if (accumulated_dist >= lookahead_dist)
+//     {
+//       goal_pose_it = it;
+//       break;
+//     }
+//   }
+
+//   // --- Fallback an toàn ---
+//   if (goal_pose_it == search_begin)
+//   {
+//     goal_pose_it = std::prev(search_end); // safe vì search_end > search_begin
+//   }
+
+//   // --- Final safety check ---
+//   if (goal_pose_it < poses.begin() || goal_pose_it >= poses.end())
+//   {
+//     // fallback cuối cùng
+//     return std::prev(poses.end());
+//   }
+
+//   return goal_pose_it;
+// }
+
+
+
 bool mkt_algorithm::diff::PredictiveTrajectory::pruneGlobalPlan(TFListenerPtr tf, const robot_nav_2d_msgs::Pose2DStamped &pose, robot_nav_2d_msgs::Path2D &global_plan, double dist_behind_robot)
 {
   if (global_plan.poses.empty())
@@ -1214,11 +1312,9 @@ double mkt_algorithm::diff::PredictiveTrajectory::adjustSpeedWithHermiteTrajecto
   double v_limit = std::fabs(v_target);
   double journey_distance = journey(trajectory.poses, 0, trajectory.poses.size() - 1);
   
-  const double v_limited = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
-  const double v_min = std::min(fabs(v_limited), min_speed_xy_);
   if (journey_distance < min_journey_squared_)
   {
-    v_limit = std::clamp(sqrt(2.0 * fabs(decel_lim_x_) * journey_distance), min_approach_linear_velocity_, v_min) * sign_x;
+    v_limit = std::clamp(sqrt(2.0 * fabs(decel_lim_x_) * journey_distance), min_approach_linear_velocity_, min_speed_xy_) * sign_x;
   }
 
   if (max_kappa > 1e-6 && max_lateral_accel_ > 1e-6)
@@ -1228,7 +1324,7 @@ double mkt_algorithm::diff::PredictiveTrajectory::adjustSpeedWithHermiteTrajecto
   }
 
   if(trajectory.poses.size() > 2 && fabs(trajectory.poses.front().pose.theta) >= angle_threshold_)
-    v_limit = v_min * sign_x;
+    v_limit = min_speed_xy_ * sign_x;
 
   if (fabs(decel_lim_x_) > 1e-6)
   {
@@ -1246,8 +1342,7 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra
   const robot_nav_2d_msgs::Twist2D &drive_target,
   const robot_nav_2d_msgs::Twist2D &velocity,
   const double &sign_x,
-  robot_nav_2d_msgs::Twist2D &drive_cmd, 
-  const double &dt)
+  robot_nav_2d_msgs::Twist2D &drive_cmd)
 {
   if (path.poses.empty())
   {
@@ -1255,30 +1350,23 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateTra
     drive_cmd.theta = 0.0;
     return robot_nav_2d_msgs::Path2D();
   }
-
-  drive_cmd.x = drive_target.x;
-  drive_cmd.theta = max_vel_theta_;
   double max_kappa = calculateMaxKappa(path);
   const double straight_threshold = std::max(0.05, 2.0 * (costmap_robot_ ? costmap_robot_->getCostmap()->getResolution() : 0.05));
-  // nếu đường thẳng
-  if (max_kappa <= straight_threshold) 
+  drive_cmd.x = this->adjustSpeedWithHermiteTrajectory(velocity, path, drive_target.x, sign_x);
+  drive_cmd.theta = max_vel_theta_;
+
+  if (max_kappa <= straight_threshold && fabs(path.poses.back().pose.x) < min_lookahead_dist_) // nếu đường thẳng
   { 
-    if(fabs(path.poses.back().pose.x) < min_lookahead_dist_ * 0.8)
+    if(fabs(path.poses.front().pose.y) <= 0.03 && fabs(path.poses.back().pose.x) < min_lookahead_dist_ )
     {
-      if(fabs(path.poses.back().pose.x) < min_journey_squared_)
-        drive_cmd.theta = 0.01;
       return generateParallelPath(path, sign_x);
     }
     return generateHermiteTrajectory(path, sign_x);
   }
   else // nếu đường cong
   {
-    const double v_limited = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
-    const double v_min = std::min(fabs(v_limited), min_speed_xy_);
-    if(fabs(drive_cmd.x) < v_min) 
-    {
-      drive_cmd.x = std::copysign(v_min, sign_x);
-    }
+    if(fabs(drive_cmd.x) < min_speed_xy_)
+      drive_cmd.x = std::copysign(min_speed_xy_, sign_x);
     return generateHermiteQuadraticTrajectory(path, sign_x);
   }
 }
@@ -1323,6 +1411,8 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generatePar
   return parallel_path;
 }
 
+
+
 robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateHermiteTrajectory(
   const robot_nav_2d_msgs::Path2D &path, const double &sign_x)
 {

src/Algorithms/Packages/global_planners/two_points_planner/src/two_points_planner.cpp

@@ -190,9 +190,14 @@ namespace two_points_planner
     }
     else 
     { 
-      robot_geometry_msgs::PoseStamped pose = start;
-      pose.pose.position.x += resolution * cos(theta);
-      pose.pose.position.y += resolution * sin(theta);
+      auto goal_2d = robot_nav_2d_utils::poseStampedToPose2D(goal);  // hoặc start.theta
+      robot_geometry_msgs::PoseStamped pose = goal;
+      pose.pose.position.x += resolution * std::cos(goal_2d.pose.theta);
+      pose.pose.position.y += resolution * std::sin(goal_2d.pose.theta);
+      plan.push_back(pose);
+      pose = goal;
+      pose.pose.position.x -= resolution * std::cos(goal_2d.pose.theta);
+      pose.pose.position.y -= resolution * std::sin(goal_2d.pose.theta);
       plan.push_back(pose);
       plan.push_back(goal);
       return true;

src/Algorithms/Packages/local_planners/pnkx_local_planner/include/pnkx_local_planner/pnkx_docking_local_planner.h

@@ -31,6 +31,8 @@ namespace pnkx_local_planner
     void initialize(robot::NodeHandle &parent, const std::string &name,
                     TFListenerPtr tf, robot_costmap_2d::Costmap2DROBOT *costmap_robot) override;
 
+    void setPlan(const robot_nav_2d_msgs::Path2D &path) override;
+
     /**
      * @brief robot_nav_core2 computeVelocityCommands - calculates the best command given the current pose and velocity
      *

src/Algorithms/Packages/local_planners/pnkx_local_planner/src/pnkx_docking_local_planner.cpp

@@ -240,6 +240,12 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::getParams(robot::NodeHandle &n
   }
 }
 
+void pnkx_local_planner::PNKXDockingLocalPlanner::setPlan(const robot_nav_2d_msgs::Path2D &path)
+{
+  this->reset();
+  pnkx_local_planner::PNKXLocalPlanner::setPlan(path);
+}
+
 void pnkx_local_planner::PNKXDockingLocalPlanner::reset()
 {
   robot::log_info_at(__FILE__, __LINE__, "New Docking Goal Received.");
@@ -255,11 +261,12 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::reset()
 
   parent_.setParam(algorithm_nav_name, original_papams_);
   robot::NodeHandle nh_algorithm = robot::NodeHandle(parent_, algorithm_nav_name);
-  nh_algorithm.setParam("allow_rotate", false);
+  // nh_algorithm.setParam("allow_rotate", false);
 }
 
 void pnkx_local_planner::PNKXDockingLocalPlanner::prepare(const robot_nav_2d_msgs::Pose2DStamped &pose, const robot_nav_2d_msgs::Twist2D &velocity)
 {  
+  // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 1.0");
   this->getParams(planner_nh_);
   if (update_costmap_before_planning_)
   {
@@ -273,11 +280,12 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::prepare(const robot_nav_2d_msg
     if (!costmap_robot_->isCurrent())
       throw robot_nav_core2::CostmapDataLagException("Costmap2DROBOT is out of date somehow.");
   }
-
+  // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 2.0");
   // Update time stamp of goal pose
   // goal_pose_.header.stamp = pose.header.stamp;
   robot_nav_2d_msgs::Pose2DStamped local_start_pose = this->transformPoseToLocal(pose),
                              local_goal_pose = this->transformPoseToLocal(goal_pose_);
+  // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 3.0");
   if (start_docking_)
   {
     local_goal_pose = goal_pose_;
@@ -285,6 +293,14 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::prepare(const robot_nav_2d_msg
 
   try
   {
+    // robot::log_error("local_start_pose (%f, %f, %f)", local_start_pose.pose.x, local_start_pose.pose.y, local_start_pose.pose.theta);
+    // robot::log_error("local_goal_pose (%f, %f, %f)", local_goal_pose.pose.x, local_goal_pose.pose.y, local_goal_pose.pose.theta);
+    // for(size_t i = 0; i < global_plan_.poses.size(); i++)
+    // {
+    //   robot::log_error("global_plan_ [%zu] (%f, %f, %f)", i, global_plan_.poses[i].pose.x, global_plan_.poses[i].pose.y, global_plan_.poses[i].pose.theta);
+    // }
+    // robot::log_error("costmap_robot_->getGlobalFrameID(): %s", costmap_robot_->getGlobalFrameID().c_str());
+    
     if (!pnkx_local_planner::transformGlobalPlan(tf_, global_plan_, local_start_pose, costmap_robot_, costmap_robot_->getGlobalFrameID(), 2.0, transformed_global_plan_))
       robot::log_warning_at(__FILE__, __LINE__, "Transform global plan is failed");
   }
@@ -294,53 +310,60 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::prepare(const robot_nav_2d_msg
   }
 
   double x_direction, y_direction, theta_direction;
-  if (!ret_nav_)
+  if (!ret_nav_ && !dkpl_.empty())
   {
-    if (!nav_algorithm_->prepare(local_start_pose, velocity, local_goal_pose, transformed_global_plan_, x_direction, y_direction, theta_direction))
+    // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 4.0");
+    if(nav_algorithm_)
     {
-      robot::log_warning_at(__FILE__, __LINE__, "Algorithm \"%s\" failed to prepare", nav_algorithm_->getName().c_str());
-      throw robot_nav_core2::LocalPlannerException("Algorithm failed to prepare");
-    }
-    // else
-    //   ROS_INFO_THROTTLE(0.2, "chieu %f %f %f", x_direction, y_direction, theta_direction);
-
-    if (!dkpl_.empty() && dkpl_.front()->initialized_ && dkpl_.front()->is_detected_ && !dkpl_.front()->is_goal_reached_)
-    {
-      this->lock();
-      robot_geometry_msgs::Vector3 linear = dkpl_.front()->linear_;
-      traj_generator_->setTwistLinear(linear);
-      linear.x *= (-1);
-      traj_generator_->setTwistLinear(linear);
-      traj_generator_->setTwistAngular(dkpl_.front()->angular_);
-
-      std::string algorithm_nav_name;
-      planner_nh_.param("algorithm_nav_name", algorithm_nav_name, std::string("pnkx_local_planner::PTA"));
-      robot::NodeHandle nh_algorithm = robot::NodeHandle(parent_, algorithm_nav_name);
-      nh_algorithm.setParam("allow_rotate", dkpl_.front()->allow_rotate_);
-      nh_algorithm.setParam("min_lookahead_dist", dkpl_.front()->min_lookahead_dist_);
-      nh_algorithm.setParam("max_lookahead_dist", dkpl_.front()->max_lookahead_dist_);
-      nh_algorithm.setParam("lookahead_time", dkpl_.front()->lookahead_time_);
-      nh_algorithm.setParam("angle_threshold", dkpl_.front()->angle_threshold_);
-
-      parent_.setParam("xy_goal_tolerance", dkpl_.front()->xy_goal_tolerance_);
-      parent_.setParam("yaw_goal_tolerance", dkpl_.front()->yaw_goal_tolerance_);
-
-      if (dkpl_.front()->docking_nav_ && !dkpl_.front()->docking_planner_)
+      if (!nav_algorithm_->prepare(local_start_pose, velocity, local_goal_pose, transformed_global_plan_, x_direction, y_direction, theta_direction))
       {
+        robot::log_warning_at(__FILE__, __LINE__, "Algorithm \"%s\" failed to prepare", nav_algorithm_->getName().c_str());
+        throw robot_nav_core2::LocalPlannerException("Algorithm failed to prepare");
+      }
+      // else
+      //   ROS_INFO_THROTTLE(0.2, "chieu %f %f %f", x_direction, y_direction, theta_direction);
+      // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 5.0");
+      if (!dkpl_.empty() && dkpl_.front()->initialized_ && dkpl_.front()->is_detected_ && !dkpl_.front()->is_goal_reached_)
+      {
+        // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 6.0");
+        this->lock();
+        robot_geometry_msgs::Vector3 linear = dkpl_.front()->linear_;
+        traj_generator_->setTwistLinear(linear);
+        linear.x *= (-1);
+        traj_generator_->setTwistLinear(linear);
+        traj_generator_->setTwistAngular(dkpl_.front()->angular_);
 
-        if (dkpl_.front()->following_)
+        std::string algorithm_nav_name;
+        planner_nh_.param("algorithm_nav_name", algorithm_nav_name, std::string("pnkx_local_planner::PTA"));
+        robot::NodeHandle nh_algorithm = robot::NodeHandle(parent_, algorithm_nav_name);
+        nh_algorithm.setParam("allow_rotate", dkpl_.front()->allow_rotate_);
+        nh_algorithm.setParam("min_lookahead_dist", dkpl_.front()->min_lookahead_dist_);
+        nh_algorithm.setParam("max_lookahead_dist", dkpl_.front()->max_lookahead_dist_);
+        nh_algorithm.setParam("lookahead_time", dkpl_.front()->lookahead_time_);
+        nh_algorithm.setParam("angle_threshold", dkpl_.front()->angle_threshold_);
+        
+        parent_.setParam("xy_goal_tolerance", dkpl_.front()->xy_goal_tolerance_);
+        parent_.setParam("yaw_goal_tolerance", dkpl_.front()->yaw_goal_tolerance_);
+        // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 7.0");
+        if (dkpl_.front()->docking_nav_ && !dkpl_.front()->docking_planner_)
         {
-          robot_nav_2d_msgs::Pose2DStamped follow_pose;
-          if (dkpl_.front()->geLocalGoal(local_goal_pose))
+
+          if (dkpl_.front()->following_)
           {
-            local_goal_pose = follow_pose;
+            robot_nav_2d_msgs::Pose2DStamped follow_pose;
+            if (dkpl_.front()->geLocalGoal(local_goal_pose))
+            {
+              local_goal_pose = follow_pose;
+            }
+          }
+          if (!dkpl_.front()->docking_nav_->prepare(local_start_pose, velocity, local_goal_pose, transformed_global_plan_, x_direction, y_direction, theta_direction))
+          {
+            throw robot_nav_core2::LocalPlannerException("Algorithm failed to prepare");
+            robot::log_warning_at(__FILE__, __LINE__, "Algorithm \"%s\" failed to prepare", nav_algorithm_->getName().c_str());
           }
         }
-        if (!dkpl_.front()->docking_nav_->prepare(local_start_pose, velocity, local_goal_pose, transformed_global_plan_, x_direction, y_direction, theta_direction))
-        {
-          throw robot_nav_core2::LocalPlannerException("Algorithm failed to prepare");
-          robot::log_warning_at(__FILE__, __LINE__, "Algorithm \"%s\" failed to prepare", nav_algorithm_->getName().c_str());
-        }
+        
+        // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 8.0");
       }
     }
   }
@@ -365,14 +388,26 @@ void pnkx_local_planner::PNKXDockingLocalPlanner::prepare(const robot_nav_2d_msg
 robot_nav_2d_msgs::Twist2DStamped pnkx_local_planner::PNKXDockingLocalPlanner::computeVelocityCommands(const robot_nav_2d_msgs::Pose2DStamped &pose,
                                                                                                  const robot_nav_2d_msgs::Twist2D &velocity)
 {
-  // boost::recursive_mutex::scoped_lock l(configuration_mutex_);
+  // // boost::recursive_mutex::scoped_lock l(configuration_mutex_);
+  // for(size_t i = 0; i < global_plan_.poses.size(); i++)
+  // {
+  //   robot::log_error("computeVelocityCommands global_plan_ [%d] (%f, %f, %f)", i, global_plan_.poses[i].pose.x, global_plan_.poses[i].pose.y, global_plan_.poses[i].pose.theta);
+  // }
   robot_nav_2d_msgs::Twist2DStamped cmd_vel;
+  cmd_vel.header.stamp = robot::Time::now();
+  cmd_vel.velocity.x = 0.0;
+  cmd_vel.velocity.y = 0.0;
+  cmd_vel.velocity.theta = 0.0;
   try
   {
-    if (global_plan_.poses.empty())
+    // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 1.0");
+    if ( global_plan_.poses.empty())
       return cmd_vel;
+    // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 1.11");
     this->prepare(pose, velocity);
+    // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 2");
     cmd_vel = this->ScoreAlgorithm(pose, velocity);
+    // robot::log_debug_at(__FILE__, __LINE__, "DEBUG STEP 3");
     return cmd_vel;
   }
   catch (const robot_nav_core2::PlannerException &e)
@@ -419,6 +454,11 @@ robot_nav_2d_msgs::Twist2DStamped pnkx_local_planner::PNKXDockingLocalPlanner::S
 
 bool pnkx_local_planner::PNKXDockingLocalPlanner::isGoalReached(const robot_nav_2d_msgs::Pose2DStamped &pose, const robot_nav_2d_msgs::Twist2D &velocity)
 {
+  // if(global_plan_.poses.size() <= 2) 
+  // {
+  //   robot::log_error("DEBUG GOAL");
+  //   return true;
+  // }
   if (goal_pose_.header.frame_id == "")
   {
     robot::log_warning_at(__FILE__, __LINE__, "Cannot check if the goal is reached without the goal being set!");
@@ -453,7 +493,8 @@ bool pnkx_local_planner::PNKXDockingLocalPlanner::isGoalReached(const robot_nav_
     }
   }
 
-  if (ret_nav_ && !ret_angle_ && !dock_ok)
+  // if (ret_nav_ && !ret_angle_ && !dock_ok)
+  if (ret_nav_ && !ret_angle_)
   {
     double delta_orient =
         fabs(angles::normalize_angle(local_goal.pose.theta - local_pose.pose.theta));
@@ -510,6 +551,7 @@ bool pnkx_local_planner::PNKXDockingLocalPlanner::dockingHanlde(const robot_nav_
                 dkpl_.front()->getLocalPath(local_pose, local_goal, path);
                 this->setPlan(robot_nav_2d_utils::pathToPath(path));
                 this->setGoalPose(local_goal);
+                robot::log_debug(__FILE__, __LINE__, "DEBUG 1 size path: %d", (int)path.poses.size());
               }
             }
             catch (const std::exception &e)
@@ -534,6 +576,7 @@ bool pnkx_local_planner::PNKXDockingLocalPlanner::dockingHanlde(const robot_nav_
                 path.poses.push_back(local_goal);
                 this->setPlan(path);
                 this->setGoalPose(local_goal);
+                robot::log_debug(__FILE__, __LINE__, "DEBUG 2 size path: %d", (int)path.poses.size());
               }
             }
             catch (const std::exception &e)
@@ -542,6 +585,7 @@ bool pnkx_local_planner::PNKXDockingLocalPlanner::dockingHanlde(const robot_nav_
             }
           }
         }
+        
       }
       else
       {

src/Libraries/robot_cpp/src/plugin_loader_helper.cpp

@@ -66,7 +66,6 @@ std::string PluginLoaderHelper::findLibraryPath(const std::string& symbol_name)
   }
   // Try to read from NodeHandle
   std::string library_path;
-  robot::log_info_at(__FILE__, __LINE__, "%s", symbol_name.c_str());
   if (nh_.hasParam(param_path)) {
     nh_.getParam(param_path, library_path, std::string(""));
     if (!library_path.empty()) {
@@ -344,7 +343,7 @@ std::string PluginLoaderHelper::getBuildDirectory()
 std::string PluginLoaderHelper::getWorkspacePath()
 {
   // Method 1: Từ environment variable PNKX_NAV_CORE_DIR
-  const char* workspace_path = std::getenv("PNKX_NAV_CORE_LIBRARY_PATH");
+  const char* workspace_path = std::getenv("PNKX_NAV_CORE_DIR");
   if (workspace_path && std::filesystem::exists(workspace_path)) {
     return std::string(workspace_path);
   }

src/Navigations/Cores/robot_nav_core/include/robot_nav_core/base_local_planner.h

@@ -146,7 +146,7 @@ namespace robot_nav_core
      * @brief Gets the current global plan
      * @param path The global plan
      */
-    virtual void getGlobalPlan(std::vector<robot_geometry_msgs::PoseStamped> &path) = 0;
+    virtual void getGlobalPlan(std::vector<robot_geometry_msgs::PoseStamped> &path) {return;}
 
     /**
      * @brief  Constructs the local planner

src/Navigations/Cores/robot_nav_core2/include/robot_nav_core2/local_planner.h

@@ -103,7 +103,7 @@ namespace robot_nav_core2
      * @brief Gets the current global plan
      * @param path The global plan
      */
-    virtual void getGlobalPlan(robot_nav_2d_msgs::Path2D &path) = 0;
+    virtual void getGlobalPlan(robot_nav_2d_msgs::Path2D &path) {return;}
 
     /**
      * @brief Compute the best command given the current pose, velocity and goal

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

@@ -976,6 +976,7 @@ bool move_base::MoveBase::moveTo( const robot_geometry_msgs::PoseStamped &goal,
     
     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)
@@ -1116,7 +1117,6 @@ bool move_base::MoveBase::moveTo(const robot_protocol_msgs::Order &msg,
       lock.unlock();
       return false;
     }
-
     as_->processGoal(action_goal);
   }
   catch (const std::exception &e)
@@ -2495,6 +2495,7 @@ void move_base::MoveBase::executeCb(const robot_move_base_msgs::MoveBaseGoalCons
     // the real work on pursuing a goal is done here
     bool done = executeCycle(goal);
 
+    // robot::log_debug("[MoveBase] Completed an execution cycle: ̀done=%s", done ? "true" : "false");
     // if we're done, then we'll return from execute
     if (done)
       return;
@@ -2714,7 +2715,7 @@ bool move_base::MoveBase::executeCycle(robot_geometry_msgs::PoseStamped &goal)
     controller_plan_ = latest_plan_;
     latest_plan_ = temp_plan;
     lock.unlock();
-    robot::log_debug("pointers swapped!");
+    robot::log_debug("pointers swapped!: %d", controller_plan_->size());
 
     if (!tc_->setPlan(*controller_plan_))
     {
@@ -2735,6 +2736,7 @@ bool move_base::MoveBase::executeCycle(robot_geometry_msgs::PoseStamped &goal)
       // as_->setAborted(robot_move_base_msgs::MoveBaseResult(), "Failed to pass global plan to the controller.");
       return true;
     }
+    // robot::log_debug("pointers swapped2!");
 
     // make sure to reset recovery_index_ since we were able to find a valid plan
     if (recovery_trigger_ == PLANNING_R)
@@ -2746,6 +2748,9 @@ bool move_base::MoveBase::executeCycle(robot_geometry_msgs::PoseStamped &goal)
   if (cancel_ctr_ && tc_)
   {
     robot_geometry_msgs::Vector3 linear;
+    linear.x = 0.0;
+    linear.y = 0.0;
+    linear.z = 0.0;
     // ROS_INFO_THROTTLE(1.0,"MoveTo is Canling ....");
     tc_->setTwistLinear(linear);
     try
@@ -2915,10 +2920,12 @@ bool move_base::MoveBase::executeCycle(robot_geometry_msgs::PoseStamped &goal)
 
     {
       boost::unique_lock<robot_costmap_2d::Costmap2D::mutex_t> lock(*(controller_costmap_robot_->getCostmap()->getMutex()));
+      // robot::log_error("paused_: %s", paused_ ? "true" : "false");
       if (!paused_)
       {
         if (tc_->computeVelocityCommands(odometry_.twist.twist, cmd_vel))
         {
+          // robot::log_debug("Got a valid velocity command from the local planner start!");
           robot_nav_msgs::Path path;
           tc_->getPlan(path.poses);
           if (!path.poses.empty())
@@ -2944,6 +2951,7 @@ bool move_base::MoveBase::executeCycle(robot_geometry_msgs::PoseStamped &goal)
           }
           if (recovery_trigger_ == CONTROLLING_R)
             recovery_index_ = 0;
+          // robot::log_debug("Got a valid velocity command from the local planner end!");
         }
         else
         {