update find path file plugin .so

.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: 0.1
+    yaw_goal_tolerance: 0.07
+
+    # 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

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

@@ -560,7 +560,7 @@ bool pnkx_local_planner::PNKXDockingLocalPlanner::dockingHanlde(const robot_nav_
         {
           if(!dkpl_.empty()) 
           {
-            if(dkpl_.front()) delete(dkpl_.front());
+            // if(dkpl_.front()) delete(dkpl_.front());
             dkpl_.erase(dkpl_.begin());
           }
           start_docking_ = false;

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()) {
@@ -339,7 +338,7 @@ 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/Packages/move_base/src/move_base.cpp

@@ -271,6 +271,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf)
     {
       robot::PluginLoaderHelper loader;
       std::string path_file_so = loader.findLibraryPath(global_planner);
+      robot::log_info("[%s:%d]\n INFO: global_planner library path: %s", __FILE__, __LINE__, path_file_so.c_str());
       planner_loader_ = boost::dll::import_alias<robot_nav_core::BaseGlobalPlanner::Ptr()>(
           path_file_so, global_planner, boost::dll::load_mode::append_decorations);
 
@@ -314,6 +315,7 @@ void move_base::MoveBase::initialize(robot::TFListenerPtr tf)
     {
       robot::PluginLoaderHelper loader;
       std::string path_file_so = loader.findLibraryPath(local_planner);
+      robot::log_info("[%s:%d]\n INFO: local_planner library path: %s", __FILE__, __LINE__, path_file_so.c_str());
       controller_loader_ =
           boost::dll::import_alias<robot_nav_core::BaseLocalPlanner::Ptr()>(
               path_file_so, local_planner, boost::dll::load_mode::append_decorations);
@@ -401,7 +403,7 @@ void move_base::MoveBase::swapPlanner(std::string base_global_planner)
       boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
       robot::PluginLoaderHelper loader;
       std::string path_file_so = loader.findLibraryPath(base_global_planner);
-
+      robot::log_info("[%s:%d]\n INFO: global_planner library path: %s", __FILE__, __LINE__, path_file_so.c_str());
       auto new_loader = boost::dll::import_alias<robot_nav_core::BaseGlobalPlanner::Ptr()>(
           path_file_so, base_global_planner, boost::dll::load_mode::append_decorations);
       auto new_planner = new_loader();
@@ -2005,6 +2007,7 @@ bool move_base::MoveBase::loadRecoveryBehaviors(const robot::NodeHandle &node)
         std::string behavior_name = behavior["name"].as<std::string>();
         robot::PluginLoaderHelper loader;
         std::string path_file_so = loader.findLibraryPath(behavior_type);
+        robot::log_info("Loading recovery behavior '%s' of type '%s' from '%s'", behavior_name.c_str(), behavior_type.c_str(), path_file_so.c_str());
         // Load the factory function from the shared library
         recovery_loaders_[behavior_name] = boost::dll::import_alias<robot_nav_core::RecoveryBehavior::Ptr()>(
             path_file_so, behavior_type, boost::dll::load_mode::append_decorations);