Tạm bỏ

.gitignore

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

CATKIN_BUILD_README.md

@@ -20,7 +20,11 @@ The specified base path contains a CMakeLists.txt but "catkin_make" must be invo
 
 # Build trong workspace mới
 cd ../pnkx_nav_catkin_ws
-catkin_make
+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"
 source devel/setup.bash
 ```
 

CMAKE_BUILD_README.md

@@ -356,8 +356,7 @@ 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

@@ -138,22 +138,6 @@ 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

@@ -19,33 +19,17 @@ virtual_walls_map:
   lethal_cost_threshold: 100
 
 obstacles:
-  observation_sources:  l_scan_marking l_scan_clearing r_scan_marking r_scan_clearing b_scan_marking b_scan_clearing
+  observation_sources: f_scan_marking f_scan_clearing b_scan_marking b_scan_clearing 
-  l_scan_marking:
+  f_scan_marking:
-    topic: /l_scan
+    topic: /f_scan
     data_type: LaserScan
     clearing: false
     marking: true
     inf_is_valid: true
     min_obstacle_height: 0.0
     max_obstacle_height: 0.25
-  l_scan_clearing:
+  f_scan_clearing:
-    topic: /l_scan
+    topic: /f_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
@@ -70,4 +54,3 @@ 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: 3.5
+  raytrace_range: 2.0
   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: 3.5
+  raytrace_range: 2.0
   resolution: 0.05
   z_resolution: 0.15
   z_voxels: 8

config/hybrid_local_planner_params.yaml

@@ -1,59 +0,0 @@
-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
+    maker_goal_frame: charger_goal
     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: true
+recovery_behavior_enabled: false 
 recovery_behaviors: [       
                       {name: aggressive_reset, type: ClearCostmapRecovery},
                       {name: conservative_reset, type: ClearCostmapRecovery},                      

config/pnkx_local_planner_params.yaml

@@ -1,5 +1,5 @@
-yaw_goal_tolerance: 0.03  
+yaw_goal_tolerance: 0.02  
-xy_goal_tolerance: 0.02 
+xy_goal_tolerance: 0.03 
 min_approach_linear_velocity: 0.05 
 
 LocalPlannerAdapter:
@@ -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: 0.15    # min_trans_vel: 0.1  # this is the min trans velocity when there is negligible rotational velocity
+  min_speed_xy: 0.25    # 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: 1.5
+  acc_lim_x: 3.0
   acc_lim_y: 0.0      # diff drive robot
   acc_lim_theta: 1.5
-  decel_lim_x: -1.5
+  decel_lim_x: -3.0
   decel_lim_y: -0.0
-  decel_lim_theta: -1.5
+  decel_lim_theta: -2.0
 
   # 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: 0.02
+  xy_local_goal_tolerance: 0.05
-  angle_threshold: 0.47
+  angle_threshold: 0.6
   index_samples: 60
   follow_step_path: true
 
@@ -106,8 +106,8 @@ MKTAlgorithmDiffPredictiveTrajectory:
   angular_decel_zone: 0.1             
 
   # stoped
-  rot_stopped_velocity: 0.05
+  rot_stopped_velocity: 0.03
-  trans_stopped_velocity: 0.06
+  trans_stopped_velocity: 0.03
   
   use_final_heading_alignment: true
   final_heading_xy_tolerance: 0.1
@@ -119,7 +119,7 @@ MKTAlgorithmDiffPredictiveTrajectory:
 
 MKTAlgorithmDiffGoStraight:
   library_path: libmkt_algorithm_diff
-  xy_local_goal_tolerance: 0.02
+  xy_local_goal_tolerance: 0.05
   angle_threshold: 0.8
   index_samples: 60
   follow_step_path: true
@@ -143,8 +143,8 @@ MKTAlgorithmDiffGoStraight:
   angular_decel_zone: 0.1             
 
   # stoped
-  rot_stopped_velocity: 0.05
+  rot_stopped_velocity: 0.03
-  trans_stopped_velocity: 0.06
+  trans_stopped_velocity: 0.03
   
   use_final_heading_alignment: true
   final_heading_xy_tolerance: 0.1
@@ -156,7 +156,7 @@ MKTAlgorithmDiffGoStraight:
 
 MKTAlgorithmDiffRotateToGoal:
   library_path: libmkt_algorithm_diff
-  xy_local_goal_tolerance: 0.02
+  xy_local_goal_tolerance: 0.05
   angle_threshold: 0.47
   index_samples: 60
   follow_step_path: true
@@ -180,8 +180,8 @@ MKTAlgorithmDiffRotateToGoal:
   angular_decel_zone: 0.1             
 
   # stoped
-  rot_stopped_velocity: 0.05
+  rot_stopped_velocity: 0.03
-  trans_stopped_velocity: 0.06
+  trans_stopped_velocity: 0.03
   
   use_final_heading_alignment: true
   final_heading_xy_tolerance: 0.1

src/APIs/c_api/src/nav_c_api.cpp

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

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

@@ -206,7 +206,7 @@ bool score_algorithm::ScoreAlgorithm::computePlanCommand(const robot_nav_2d_msgs
     // Process index_s with multiple elements
     if (index_s.size() > 1)
     {
-      for (size_t i = 0; i < index_s.size(); ++i)
+      for (size_t i = 1; i < index_s.size(); ++i)
       {
         if (index_s[i - 1] >= (unsigned int)global_plan.poses.size() || index_s[i] >= (unsigned int)global_plan.poses.size())
         {
@@ -219,11 +219,12 @@ 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_ + 0.1)
+        if (std::abs(std::sqrt(dx * dx + dy * dy)) <= xy_local_goal_tolerance_ + 0.2)
         {
           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;
@@ -257,7 +258,7 @@ 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_ + 0.1)
+        if (std::abs(std::sqrt(dx * dx + dy * dy)) <= xy_local_goal_tolerance_ + 0.2)
         {
           double tolerance = fabs(cos(theta)) >= fabs(sin(theta)) ? x : y;
           if (fabs(tolerance) <= xy_local_goal_tolerance_)
@@ -415,7 +416,7 @@ 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 SCORE_ALGORITHM_WITH_ROS
+#ifdef BUILD_WITH_ROS
   {
     robot_geometry_msgs::PoseStamped sub_pose_stamped = robot_nav_2d_utils::pose2DToPoseStamped(sub_pose);
     geometry_msgs::PoseStamped sub_pose_stamped_ros;
@@ -423,7 +424,7 @@ 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 = sub_pose_stamped.pose.position.z;
+    sub_pose_stamped_ros.pose.position.z = 0.9;
     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;
@@ -434,7 +435,7 @@ 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 SCORE_ALGORITHM_WITH_ROS
+#ifdef BUILD_WITH_ROS
   {
     robot_geometry_msgs::PoseStamped sub_goal_stamped = robot_nav_2d_utils::pose2DToPoseStamped(sub_goal);
     geometry_msgs::PoseStamped sub_goal_stamped_ros;
@@ -442,7 +443,7 @@ 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 = sub_goal_stamped.pose.position.z;
+    sub_goal_stamped_ros.pose.position.z = 0.9;
     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

@@ -181,7 +181,7 @@ 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 robot_nav_2d_msgs::Twist2D &velocity, const double &sign_x, robot_nav_2d_msgs::Twist2D &drive_cmd, const double &dt);
 
       /**
        * @brief Generate trajectory
@@ -194,11 +194,11 @@ namespace mkt_algorithm
 
       /**
        * @brief Generate Hermite trajectory
-       * @param pose
+       * @param path
        * @param sign_x
        * @return trajectory
        */
-      robot_nav_2d_msgs::Path2D generateHermiteTrajectory(const robot_nav_2d_msgs::Pose2DStamped &pose, const double &sign_x);
+      robot_nav_2d_msgs::Path2D generateHermiteTrajectory(const robot_nav_2d_msgs::Path2D &path, const double &sign_x);
 
       /**
        * @brief Generate Hermite quadratic trajectory
@@ -206,7 +206,7 @@ namespace mkt_algorithm
        * @param sign_x
        * @return trajectory
        */
-      robot_nav_2d_msgs::Path2D generateHermiteQuadraticTrajectory(const robot_nav_2d_msgs::Pose2DStamped &pose, const double &sign_x);
+      robot_nav_2d_msgs::Path2D generateHermiteQuadraticTrajectory(const robot_nav_2d_msgs::Path2D &path, const double &sign_x);
 
       /**
        * @brief Should rotate to path

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 ===
+//   // === Final Heading Alignment Check ===
-  double xy_error = 0.0, heading_error = 0.0;
+//   double xy_error = 0.0, heading_error = 0.0;
-  if (shouldAlignToFinalHeading(transformed_plan, carrot_pose, velocity, xy_error, heading_error, sign_x))
+//   if (shouldAlignToFinalHeading(transformed_plan, carrot_pose, velocity, xy_error, heading_error, sign_x))
-  {
+//   {
-    // Use Arc Motion controller for final heading alignment
+//     // Use Arc Motion controller for final heading alignment
-    alignToFinalHeading(xy_error, heading_error, velocity, sign_x, dt, drive_cmd);
+//     alignToFinalHeading(xy_error, heading_error, velocity, sign_x, dt, drive_cmd);
-#ifdef BUILD_WITH_ROS
+// #ifdef BUILD_WITH_ROS
-    ROS_INFO("xy_err=%.3f, heading_err=%.3f deg, v=%.3f, w_current=%.3f, w_target=%.3f",
+//     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);
+//                       xy_error, heading_error * 180.0 / M_PI, drive_cmd.x, velocity.theta, drive_cmd.theta);
-#endif
+// #endif
-  }
+//   }
-  else
+//   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);
+    transformed_plan = this->generateTrajectory(transformed_plan, drive_cmd, velocity, sign_x, drive_target, dt);
     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

@@ -368,6 +368,7 @@ 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;
   }
+
   const auto carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transform_plan_);
   if(fabs(carrot_pose.pose.y) > 0.2)
   {
@@ -404,42 +405,47 @@ bool mkt_algorithm::diff::PredictiveTrajectory::prepare(const robot_nav_2d_msgs:
     }
     
   }
-  else
+  else if(compute_plan_.poses.size() == 1)
   {
     try
     {
-      auto carrot_pose_it = getLookAheadPoint(velocity, lookahead_dist, transform_plan_);
+      // auto carrot_pose_it = getLookAheadPoint(velocity, lookahead_dist, transform_plan_);
-      auto prev_carrot_pose_it = transform_plan_.poses.begin();
+      // auto prev_carrot_pose_it = transform_plan_.poses.begin();
-      double distance_it = 0;
+      // double distance_it = 0;
-      for (auto it = carrot_pose_it - 1; it != transform_plan_.poses.begin(); --it)
+      // for (auto it = carrot_pose_it - 1; it != transform_plan_.poses.begin(); --it)
-      {
+      // {
-        double dx = it->pose.x - carrot_pose_it->pose.x;
+      //   double dx = it->pose.x - carrot_pose_it->pose.x;
-        double dy = it->pose.y - carrot_pose_it->pose.y;
+      //   double dy = it->pose.y - carrot_pose_it->pose.y;
-        distance_it += std::hypot(dx, dy);
+      //   distance_it += std::hypot(dx, dy);
-        if (distance_it > costmap_robot_->getCostmap()->getResolution())
+      //   if (distance_it > costmap_robot_->getCostmap()->getResolution())
-        {
+      //   {
-          prev_carrot_pose_it = it;
+      //     prev_carrot_pose_it = it;
-          break;
+      //     break;
-        }
+      //   }
-      }
+      // }
 
-      robot_geometry_msgs::Pose front = journey(transform_plan_.poses, 0, transform_plan_.poses.size() - 1) > 5.0 * costmap_robot_->getCostmap()->getResolution()
+      // 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((*(prev_carrot_pose_it)).pose)
-                                      : robot_nav_2d_utils::pose2DToPose(robot_geometry_msgs::Pose2D());
+      //                                 : robot_nav_2d_utils::pose2DToPose(robot_geometry_msgs::Pose2D());
 
-      robot_geometry_msgs::Pose back = robot_nav_2d_utils::pose2DToPose((*(carrot_pose_it)).pose);
+      // robot_geometry_msgs::Pose back = robot_nav_2d_utils::pose2DToPose((*(carrot_pose_it)).pose);
 
       // 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());
-      const double dir_path = 0.0;
+
+      
+      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));
       if (fabs(dir_path) > M_PI / 6 || x_direction < 1e-9)
         x_direction = dir_path > 0 ? FORWARD : BACKWARD;
     }
     catch (std::exception &e)
     {
-      robot::log_error("[%s:%d]\n getLookAheadPoint throw an exception: %s", __FILE__, __LINE__, e.what());
+      robot::log_warning_throttle(0.2, "[%s:%d]\n getLookAheadPoint throw an exception: %s", __FILE__, __LINE__, e.what());
-      return false;
+      x_direction = x_direction_; 
     }
   }
 
@@ -477,6 +483,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
   }
   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);
   
   robot_nav_2d_msgs::Path2D transformed_plan = this->transform_plan_;
   if (transformed_plan.poses.empty())
@@ -513,7 +520,11 @@ 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;
-  allow_rotate &= std::hypot(compute_plan_.poses.front().pose.x - pose.pose.x, compute_plan_.poses.front().pose.y - pose.pose.y) <= 0.1;
+  // 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 / 3.0;
+
+  allow_rotate &= (fabs(transformed_plan.poses.front().pose.y) <= 0.5);
+
   double angle_to_heading; 
   if (allow_rotate && shouldRotateToPath(transformed_plan, carrot_pose, velocity, angle_to_heading, sign_x))
   {
@@ -529,26 +540,23 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
   }
   else
   {
-    // === Final Heading Alignment Check ===
+//     // === Final Heading Alignment Check ===
-    double xy_error = 0.0, heading_error = 0.0;
+//     double xy_error = 0.0, heading_error = 0.0;
-    if (shouldAlignToFinalHeading(transformed_plan, carrot_pose, velocity, xy_error, heading_error, sign_x))
+//     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("heading_err=%.3f deg, v=%.3f, w_current=%.3f, w_target=%.3f",
-                        heading_error * 180.0 / M_PI, drive_cmd.x, velocity.theta, drive_cmd.theta);
-#endif
-    }
-    else
-    {
-      // if(fabs(carrot_pose.pose.y) > 0.2)
 //     {
-      //   lookahead_dist = sqrt(carrot_pose.pose.y *carrot_pose.pose.y + lookahead_dist * lookahead_dist);
+//       // 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("heading_err=%.3f deg, v=%.3f, w_current=%.3f, w_target=%.3f",
+//                         heading_error * 180.0 / M_PI, drive_cmd.x, velocity.theta, drive_cmd.theta);
+// #endif
 //     }
+//     else
+//     {
       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, dt);
-      // carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
+      carrot_pose = *getLookAheadPoint(velocity, lookahead_dist, transformed_plan);
+      
       // Normal Pure Pursuit
       this->computePurePursuit(
       carrot_pose, 
@@ -559,7 +567,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
       sign_x, 
       dt, 
       drive_cmd);
-    }
+    // }
     applyDistanceSpeedScaling(compute_plan_, velocity, drive_cmd, sign_x, dt);
     if (this->nav_stop_)
     {
@@ -573,6 +581,7 @@ mkt_msgs::Trajectory2D mkt_algorithm::diff::PredictiveTrajectory::calculator(
       result.velocity = drive_cmd;
       return result;
     }
+    
   }
   result.poses.clear();
   result.poses.reserve(transformed_plan.poses.size());
@@ -586,7 +595,11 @@ 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;
@@ -612,15 +625,15 @@ 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
+  // const double L_min = 0.1;  // m, chỉnh theo nhu cầu
-  double scale_close = std::clamp(L / L_min, 0.0, 1.0);
+  // double scale_close = std::clamp(L / L_min, 0.0, 1.0);
-  v_target *= scale_close;
+  // 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, 0.2, 1.0); // không giảm quá sâu
+    scale = std::clamp(scale, 0.6, 1.0); // không giảm quá sâu
     v_target *= scale;
     robot_nav_2d_msgs::Twist2D cmd, result;
     cmd.x = v_target;
@@ -631,9 +644,8 @@ 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);
-
   // 5) Angular speed from curvature
-  double w_target = v_target * kappa + std::copysign(carrot_pose.pose.theta * dt, kappa);
+  double w_target = v_target * kappa;
   if(journey(trajectory.poses, 0, trajectory.poses.size() - 1) <= min_journey_squared_)
   {
     if (trajectory.poses.size() >= 2) {
@@ -642,18 +654,20 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
       for(int i = trajectory.poses.size() - 2; i >= 0; i--)
       {
         const auto& p = trajectory.poses[i].pose;
-        if(std::hypot(p1.x - p.x, p1.y - p.y) >= costmap_robot_->getCostmap()->getResolution())
+        const auto& dx =  p1.x - p.x ;
+        const auto& dy =  p1.y - p.y ;
+        if(std::hypot(dx, dy) >= costmap_robot_->getCostmap()->getResolution())
         {
-          heading_ref = angles::normalize_angle(std::atan2(p1.y - p.y, p1.x - p.x));
+          if(fabs(dx) < 1e-6 && fabs(dy) < 1e-6)
+            continue;
+          heading_ref = std::atan2(dy, dx);
           if(sign_x < 0.0)
-          {
+          heading_ref += std::copysign(M_PI, heading_ref) * (-1.0);
-            heading_ref = angles::normalize_angle(M_PI + heading_ref);
-          }
           break;
         }
       }
 
-      const double error = angles::normalize_angle(heading_ref);
+      const double error = heading_ref;
       double w_heading = 0.0;
       pid(error, 
         near_goal_heading_integral_, 
@@ -666,11 +680,11 @@ 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);
+      w_target = std::clamp(w_target, -fabs(drive_target.theta), fabs(drive_target.theta));
     }
     else
     {
-      w_target = 0.0;
+      w_target = std::clamp(w_target, -0.001, 0.001);
       near_goal_heading_was_active_ = false;
     }
   }
@@ -678,7 +692,7 @@ 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);
@@ -687,7 +701,6 @@ void mkt_algorithm::diff::PredictiveTrajectory::computePurePursuit(
   drive_cmd.x = velocity.x + dv;
   drive_cmd.theta = velocity.theta + dw;
   
-
   Eigen::VectorXd y(2);
   y << drive_cmd.x, drive_cmd.theta;
 
@@ -705,8 +718,9 @@ 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], -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);
 }
 
 void mkt_algorithm::diff::PredictiveTrajectory::applyDistanceSpeedScaling(
@@ -730,8 +744,9 @@ 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;
-  double reduce_speed = std::min(max_speed, min_speed_xy_);
+  const double v_min = std::min(fabs(v_limited), min_speed_xy_);
+  double reduce_speed = std::min(max_speed, v_min);
   if (s < S_final)
   {
     double r = std::clamp(s / S_final, 0.0, 1.0);
@@ -764,21 +779,29 @@ 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() >= 2)
+  if(is_stopped && global_plan.poses.size() >= 4 &&
+  journey(global_plan.poses, 0, global_plan.poses.size() - 1) >= 0.7 * min_lookahead_dist_)
   {
-    const auto& p1 = global_plan.poses[1];
+    const auto& p1 = global_plan.poses[2];
-    for(int i = 2; i < global_plan.poses.size(); i++)
+    for(int i = 3; i < global_plan.poses.size(); i++)
     {
       const auto& p = global_plan.poses[i];
-      if(std::hypot(p.pose.x, p.pose.y) > costmap_robot_->getCostmap()->getResolution())
+      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())
       {
-        path_angle = std::atan2(p.pose.y - p1.pose.y, p.pose.x - p1.pose.x);
+        if(fabs(dx) < 1e-9 && fabs(dy) < 1e-9)
+          continue;
+        path_angle = std::atan2(dy, dx);
         break;
       }
     }
   }
   
   // 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;
   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)
@@ -792,16 +815,13 @@ bool mkt_algorithm::diff::PredictiveTrajectory::shouldRotateToPath(
   //   (is_stopped || sign(angle_to_path) * sign_x < 0 ) && fabs(angle_to_path) > heading_rotate;
 
   bool result = use_rotate_to_heading_ && fabs(angle_to_path) > heading_rotate;
-// #ifdef BUILD_WITH_ROS
+#ifdef BUILD_WITH_ROS
-  // if (result)
+  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);
+    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
-  // else if(fabs(velocity.x) < min_speed_xy_)
+  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);
-  //   ROS_INFO_THROTTLE(0.1, "velocity.x: %f, velocity.theta: %f, ", velocity.x, velocity.theta);
+#endif
-  //   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;
 }
 
@@ -883,13 +903,11 @@ bool mkt_algorithm::diff::PredictiveTrajectory::shouldAlignToFinalHeading(
     for(int i = trajectory.poses.size() - 2; i >= 0; i--)
     {
       const auto& p = trajectory.poses[i].pose;
-      if(std::hypot(p1.x - p.x, p1.y - p.y) >= costmap_robot_->getCostmap()->getResolution())
+      const auto& dx = sign_x < 0.0 ? p1.x - p.x : p.x - p1.x;
+      const auto& dy = sign_x < 0.0 ? p1.y - p.y : p.y - p1.y;
+      if(std::hypot(dx, dy) >= costmap_robot_->getCostmap()->getResolution())
       {
-        heading_error = angles::normalize_angle(std::atan2(p1.y - p.y, p1.x - p.x));
+        heading_error = angles::normalize_angle(std::atan2(dy, dx));
-        if(sign_x < 0.0)
-        {
-          heading_error = angles::normalize_angle(M_PI + heading_error);
-        }
         break;
       }
     }
@@ -939,8 +957,10 @@ 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, min_speed_xy_);
+  v_base = std::min(v_base, v_min);
 
   // Scale down when heading error is large (prioritize rotation)
   double heading_scale = 1.0;
@@ -1012,7 +1032,7 @@ void mkt_algorithm::diff::PredictiveTrajectory::alignToFinalHeading(
   cmd_vel.theta = omega_current + domega;
 
   // --- Apply velocity limits ---
-  cmd_vel.x = std::clamp(cmd_vel.x, -min_speed_xy_, min_speed_xy_);
+  cmd_vel.x = std::clamp(cmd_vel.x, -v_min, v_min);
   cmd_vel.theta = std::clamp(cmd_vel.theta, -max_vel_theta_, max_vel_theta_);
 
   // --- Safety: ensure we can stop ---
@@ -1194,9 +1214,11 @@ 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_, min_speed_xy_) * sign_x;
+    v_limit = std::clamp(sqrt(2.0 * fabs(decel_lim_x_) * journey_distance), min_approach_linear_velocity_, v_min) * sign_x;
   }
 
   if (max_kappa > 1e-6 && max_lateral_accel_ > 1e-6)
@@ -1206,7 +1228,7 @@ double mkt_algorithm::diff::PredictiveTrajectory::adjustSpeedWithHermiteTrajecto
   }
 
   if(trajectory.poses.size() > 2 && fabs(trajectory.poses.front().pose.theta) >= angle_threshold_)
-    v_limit = min_speed_xy_ * sign_x;
+    v_limit = v_min * sign_x;
 
   if (fabs(decel_lim_x_) > 1e-6)
   {
@@ -1224,7 +1246,8 @@ 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)
+  robot_nav_2d_msgs::Twist2D &drive_cmd, 
+  const double &dt)
 {
   if (path.poses.empty())
   {
@@ -1232,24 +1255,31 @@ 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));
-  drive_cmd.x = this->adjustSpeedWithHermiteTrajectory(velocity, path, drive_target.x, sign_x);
+  // nếu đường thẳng
-  drive_cmd.theta = max_vel_theta_;
+  if (max_kappa <= straight_threshold) 
-
-  if (max_kappa <= straight_threshold && fabs(path.poses.back().pose.x) < min_lookahead_dist_) // nếu đường thẳng
   { 
-    if(fabs(path.poses.front().pose.y) <= 0.03 && fabs(path.poses.front().pose.x) < (min_lookahead_dist_ + max_path_distance_))
+    if(fabs(path.poses.back().pose.x) < min_lookahead_dist_ * 0.8)
     {
+      if(fabs(path.poses.back().pose.x) < min_journey_squared_)
+        drive_cmd.theta = 0.01;
       return generateParallelPath(path, sign_x);
     }
-    return generateHermiteTrajectory(path.poses.back(), sign_x);
+    return generateHermiteTrajectory(path, sign_x);
   }
   else // nếu đường cong
   {
-    if(fabs(drive_cmd.x) < min_speed_xy_)
+    const double v_limited = sign_x > 0 ? traj_->getTwistLinear(true).x : traj_->getTwistLinear(false).x;
-      drive_cmd.x = std::copysign(min_speed_xy_, sign_x);
+    const double v_min = std::min(fabs(v_limited), min_speed_xy_);
-    return generateHermiteQuadraticTrajectory(path.poses.back(), sign_x);
+    if(fabs(drive_cmd.x) < v_min) 
+    {
+      drive_cmd.x = std::copysign(v_min, sign_x);
+    }
+    return generateHermiteQuadraticTrajectory(path, sign_x);
   }
 }
 
@@ -1279,40 +1309,47 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generatePar
       dx = path.poses[i+1].pose.x - path.poses[i-1].pose.x;
       dy = path.poses[i+1].pose.y - path.poses[i-1].pose.y;
     }
-
+    if(fabs(dx) < 1e-6 && fabs(dy) < 1e-6)
+      continue;
     double theta = atan2(dy, dx);
     double x_off = p.x - offset_y * sin(theta)*sign_x;
     double y_off = p.y - offset_y * cos(theta)*sign_x;
 
+    parallel_path.poses[i].header = path.poses[i].header;
     parallel_path.poses[i].pose.x = x_off;
     parallel_path.poses[i].pose.y = y_off;
-    parallel_path.poses[i].pose.theta = theta; // hoặc giữ nguyên p.theta
+    parallel_path.poses[i].pose.theta = sign_x < 0 ? angles::normalize_angle(theta + M_PI) : theta;
-    parallel_path.poses[i].header = path.poses[i].header;
   }
-
   return parallel_path;
 }
 
 robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateHermiteTrajectory(
-  const robot_nav_2d_msgs::Pose2DStamped &pose, const double &sign_x)
+  const robot_nav_2d_msgs::Path2D &path, const double &sign_x)
 {
   robot_nav_2d_msgs::Path2D hermite_trajectory;
   hermite_trajectory.poses.clear();
-  hermite_trajectory.header.stamp = pose.header.stamp;
+  hermite_trajectory.header = path.header;
-  hermite_trajectory.header.frame_id = pose.header.frame_id;
 
-  const double x = pose.pose.x;
+  if (path.poses.empty())
-  const double y = pose.pose.y;
+    return hermite_trajectory;
-  const double theta = pose.pose.theta;
+
+  const auto &goal = path.poses.back();
+  if (hermite_trajectory.header.frame_id.empty())
+    hermite_trajectory.header.frame_id = goal.header.frame_id;
+  if (hermite_trajectory.header.stamp.isZero())
+    hermite_trajectory.header.stamp = goal.header.stamp;
+
+  const double x = goal.pose.x;
+  const double y = goal.pose.y;
+  double theta = goal.pose.theta;
   const double L = std::hypot(x, y);
-
   if (L < 1e-6) {
     robot_nav_2d_msgs::Pose2DStamped pose_stamped;
-    pose_stamped.pose.x = 0.0;
+    pose_stamped.pose.x = x;
-    pose_stamped.pose.y = 0.0;
+    pose_stamped.pose.y = y;
-    pose_stamped.pose.theta = 0.0;
+    pose_stamped.pose.theta = theta;
-    pose_stamped.header.stamp = pose.header.stamp;
+    pose_stamped.header.stamp = hermite_trajectory.header.stamp;
-    pose_stamped.header.frame_id = pose.header.frame_id;
+    pose_stamped.header.frame_id = hermite_trajectory.header.frame_id;
     hermite_trajectory.poses.push_back(pose_stamped);
     return hermite_trajectory;
   }
@@ -1346,30 +1383,39 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateHer
     double dx = dh10 * Lnegative + dh01 * x + dh11 * Lnegative * std::cos(theta);
     double dy = dh01 * y + dh11 * Lnegative * std::sin(theta);
 
+    if(fabs(dx) < 1e-6 && fabs(dy) < 1e-6)
+      continue;
     double heading = std::atan2(dy, dx);
 
-    robot_nav_2d_msgs::Pose2DStamped pose;
+    robot_nav_2d_msgs::Pose2DStamped pose_out;
-    pose.pose.x = px;
+    pose_out.pose.x = px;
-    pose.pose.y = py;
+    pose_out.pose.y = py;
-    pose.pose.theta = sign_x < 0 ? angles::normalize_angle(heading + M_PI) : heading;
+    pose_out.pose.theta = sign_x < 0 ? angles::normalize_angle(heading + M_PI) : heading;
-    pose.header.stamp = hermite_trajectory.header.stamp;
+    pose_out.header.stamp = hermite_trajectory.header.stamp;
-    pose.header.frame_id = hermite_trajectory.header.frame_id;
+    pose_out.header.frame_id = hermite_trajectory.header.frame_id;
-    hermite_trajectory.poses.push_back(pose);
+    hermite_trajectory.poses.push_back(pose_out);
   }
   return hermite_trajectory;
 }
 
 robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateHermiteQuadraticTrajectory(
-  const robot_nav_2d_msgs::Pose2DStamped &pose, const double &sign_x)
+  const robot_nav_2d_msgs::Path2D &path, const double &sign_x)
 {
   robot_nav_2d_msgs::Path2D trajectory;
   trajectory.poses.clear();
-  trajectory.header.stamp = pose.header.stamp;
+  trajectory.header = path.header;
-  trajectory.header.frame_id = pose.header.frame_id;
+  if (path.poses.empty())
+    return trajectory;
 
-  const double x = pose.pose.x;
+  const auto &goal = path.poses.back();
-  const double y = pose.pose.y;
+  if (trajectory.header.frame_id.empty())
-  const double theta = sign_x < 0 ? angles::normalize_angle(pose.pose.theta + M_PI) : pose.pose.theta;
+    trajectory.header.frame_id = goal.header.frame_id;
+  if (trajectory.header.stamp.isZero())
+    trajectory.header.stamp = goal.header.stamp;
+
+  const double x = goal.pose.x;
+  const double y = goal.pose.y;
+  const double theta = sign_x < 0 ? angles::normalize_angle(goal.pose.theta + M_PI) : goal.pose.theta;
   const double L = std::hypot(x, y);
   if (L < 1e-6)
   {
@@ -1409,6 +1455,8 @@ robot_nav_2d_msgs::Path2D mkt_algorithm::diff::PredictiveTrajectory::generateHer
 
     double dx = 2.0 * ax * t + bx;
     double dy = 2.0 * ay * t + by;
+    if(fabs(dx) < 1e-6 && fabs(dy) < 1e-6)
+      continue;
     double heading = std::atan2(dy, dx);
 
     robot_nav_2d_msgs::Pose2DStamped pose_out;

src/Algorithms/Libraries/mkt_plugins/src/goal_checker.cpp

@@ -70,9 +70,8 @@ bool mkt_plugins::GoalChecker::isGoalReached(const robot_nav_2d_msgs::Pose2DStam
       double tolerance = fabs(cos(theta)) >= fabs(sin(theta)) ? x : y;
       if(fabs(tolerance) <= xy_goal_tolerance_) 
       {
-        robot::log_info_at(__FILE__, __LINE__, "%x %x", fabs(tolerance) <= xy_goal_tolerance_, tolerance * old_xy_goal_tolerance_ < 0);
+        robot::log_info_at(__FILE__, __LINE__, "%.3f %.3f %.3f %.3f %.3f", fabs(cos(theta)), fabs(sin(theta)),xy_tolerance, xy_goal_tolerance_, yaw_goal_tolerance_);
-        robot::log_info_at(__FILE__, __LINE__, "%f %f %f %f", fabs(cos(theta)), fabs(sin(theta)), xy_goal_tolerance_, yaw_goal_tolerance_);
+        robot::log_info_at(__FILE__, __LINE__, "Goal checker 1 ok %.3f %.3f %.3f %.3f %.3f ", tolerance, old_xy_goal_tolerance_, x, y, theta);
-        robot::log_info_at(__FILE__, __LINE__, "Goal checker 1 ok %f %f %f %f %f ", tolerance, old_xy_goal_tolerance_, x, y, theta);
         return true;
       }
     }

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

@@ -66,6 +66,7 @@ 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()) {
@@ -343,7 +344,7 @@ 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_DIR");
+  const char* workspace_path = std::getenv("PNKX_NAV_CORE_LIBRARY_PATH");
   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) {return;}
+    virtual void getGlobalPlan(std::vector<robot_geometry_msgs::PoseStamped> &path) = 0;
 
     /**
      * @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) {return;}
+    virtual void getGlobalPlan(robot_nav_2d_msgs::Path2D &path) = 0;
 
     /**
      * @brief Compute the best command given the current pose, velocity and goal

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

@@ -1424,7 +1424,6 @@ bool move_base::MoveBase::dockTo(const robot_protocol_msgs::Order &msg,
       lock.unlock();
       return false;
     }
-
     as_->processGoal(action_goal);
   }
   catch (const std::exception &e)