update docking

.gitignore

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

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 
+  observation_sources:  l_scan_marking l_scan_clearing r_scan_marking r_scan_clearing b_scan_marking b_scan_clearing
-  f_scan_marking:
+  l_scan_marking:
-    topic: /f_scan
+    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:
+  l_scan_clearing:
-    topic: /f_scan
+    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
@@ -52,5 +68,6 @@ obstacles:
     inf_is_valid: true
     min_obstacle_height: 0.0
     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/pnkx_local_planner_params.yaml

@@ -48,7 +48,7 @@ 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

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

@@ -546,9 +546,9 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
       // {
       //   lookahead_dist = sqrt(carrot_pose.pose.y *carrot_pose.pose.y + lookahead_dist * lookahead_dist);
       // }
-      robot_nav_2d_msgs::Twist2D drive_target;
+      robot_nav_2d_msgs::Twist2D drive_target = drive_cmd;
-      transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target);
+      // transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target);
-      carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
+      // carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
       // Normal Pure Pursuit
       this->computePurePursuit(
       carrot_pose, 
@@ -666,6 +666,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
       // Apply acceleration limits
       double dw_heading = std::clamp(w_heading - velocity.theta, -acc_lim_theta_ * dt, acc_lim_theta_ * dt);
       w_target = velocity.theta + dw_heading;
+      w_target = std::clamp(w_target, -0.05, 0.05);
     }
     else
     {
@@ -677,7 +678,7 @@ 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));
+  // w_target = std::clamp(w_target, -fabs(drive_target.theta), fabs(drive_target.theta));
 
   // 6) Apply acceleration limits (linear + angular)
   const double dv = std::clamp(v_target - velocity.x, -acc_lim_x_ * dt, acc_lim_x_ * dt);
@@ -704,8 +705,8 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
   double v_min = min_approach_linear_velocity_;
   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_)
+  // if (kf_filter_angular_)
-    drive_cmd.theta = std::clamp(kf_->state()[3], -max_vel_theta_, max_vel_theta_);
+  //   drive_cmd.theta = std::clamp(kf_->state()[3], -max_vel_theta_, max_vel_theta_);
 }
 
 void mkt_algorithm::diff::PredictiveTrajectory::applyDistanceSpeedScaling(

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

@@ -255,7 +255,7 @@ 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)
@@ -453,7 +453,8 @@ 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));

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