Merge remote-tracking branch 'origin/3.0' into awc-devel

.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
@@ -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: 0.1
+    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

examples/NavigationExample/NavigationExample.csproj

@@ -1,7 +1,7 @@
 <Project Sdk="Microsoft.NET.Sdk">
   <PropertyGroup>
     <OutputType>Exe</OutputType>
-    <TargetFramework>net10.0</TargetFramework>
+    <TargetFramework>net6.0</TargetFramework>
     <AllowUnsafeBlocks>true</AllowUnsafeBlocks>
   </PropertyGroup>
   <ItemGroup>

src/APIs/c_api/src/nav_c_api.cpp

@@ -83,7 +83,6 @@ extern "C" NavigationHandle navigation_create(void)
     // Using default constructor - initialization will be done via navigation_initialize()
     robot::PluginLoaderHelper loader;
     std::string path_file_so = loader.findLibraryPath("MoveBase");
-    robot::log_warning("%s", path_file_so.c_str());
     auto move_base_loader = boost::dll::import_alias<robot::move_base_core::BaseNavigation::Ptr()>(
         path_file_so, "MoveBase", boost::dll::load_mode::append_decorations);
     auto move_base_ptr = move_base_loader();

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

@@ -398,6 +398,7 @@ robot_nav_2d_msgs::Twist2DStamped pnkx_local_planner::PNKXDockingLocalPlanner::S
   else if (!ret_nav_)
   {
     traj = nav_algorithm_->calculator(pose, velocity);
+
     if (!dkpl_.empty() && dkpl_.front()->initialized_ && dkpl_.front()->is_detected_ && !dkpl_.front()->is_goal_reached_)
     {
       if (dkpl_.front()->docking_nav_ && !dkpl_.front()->docking_planner_)
@@ -405,17 +406,9 @@ robot_nav_2d_msgs::Twist2DStamped pnkx_local_planner::PNKXDockingLocalPlanner::S
         traj = dkpl_.front()->docking_nav_->calculator(pose, velocity);
       }
     }
-    local_plan_.header.stamp = robot::Time::now();
-    robot_nav_msgs::Path path = robot_nav_2d_utils::poses2DToPath(traj.poses, costmap_robot_->getBaseFrameID(), robot::Time::now());
-    local_plan_ = robot_nav_2d_utils::pathToPath(path);
   }
   else
-  {
     traj = rotate_algorithm_->calculator(pose, velocity);
-    local_plan_.header.stamp = robot::Time::now();
-    robot_nav_msgs::Path path = robot_nav_2d_utils::poses2DToPath(traj.poses, costmap_robot_->getBaseFrameID(), robot::Time::now());
-    local_plan_ = robot_nav_2d_utils::pathToPath(path);
-  }
 
   cmd_vel.velocity = traj.velocity;
   return cmd_vel;

src/Libraries/robot_cpp/include/robot/plugin_loader_helper.h

@@ -89,7 +89,7 @@ public:
 
 private:
   /**
-   * @brief Resolve library path (absolute, then PNKX_NAV_CORE_LIBRARY_PATH, search_paths_, cwd)
+   * @brief Resolve library path (handle relative paths, search in search_paths)
    * @param library_path Path from config (may be relative or absolute)
    * @return Resolved absolute path, or empty if not found
    */

src/Libraries/robot_cpp/src/plugin_loader_helper.cpp

@@ -98,6 +98,7 @@ std::string PluginLoaderHelper::findLibraryPath(const std::string& symbol_name)
       }
     }
   }
+
   // Try LD_LIBRARY_PATH as fallback
   const char* ld_path = std::getenv("LD_LIBRARY_PATH");
   if (ld_path) {
@@ -198,27 +199,21 @@ std::string PluginLoaderHelper::resolveLibraryPath(const std::string& library_pa
     return "";
   }
 
-  // If relative path, search under PNKX_NAV_CORE_LIBRARY_PATH (':'-separated, like LD_LIBRARY_PATH)
+  // If relative path, search in search_paths (build directory is already added)
-  const char* nav_lib_path_env = std::getenv("PNKX_NAV_CORE_LIBRARY_PATH");
+  std::string build_dir = getBuildDirectory();
-  if (nav_lib_path_env) {
+  if (!build_dir.empty()) {
+    // First try in build directory
+    // Add .so extension if not present
     std::string lib_path_with_ext = library_path;
     if (lib_path_with_ext.find(".so") == std::string::npos) {
       lib_path_with_ext += ".so";
     }
-    std::string nav_lib_paths(nav_lib_path_env);
+    std::filesystem::path full_path = std::filesystem::path(build_dir) / lib_path_with_ext;
-    std::stringstream ss(nav_lib_paths);
+    if (std::filesystem::exists(full_path)) {
-    std::string base_dir;
+      try {
-    while (std::getline(ss, base_dir, ':')) {
+        return std::filesystem::canonical(full_path).string();
-      if (base_dir.empty()) {
+      } catch (...) {
-        continue;
+        return full_path.string();
-      }
-      std::filesystem::path full_path = std::filesystem::path(base_dir) / lib_path_with_ext;
-      if (std::filesystem::exists(full_path)) {
-        try {
-          return std::filesystem::canonical(full_path).string();
-        } catch (...) {
-          return full_path.string();
-        }
       }
     }
   }