fix move base

examples/NavigationExample/NavigationExample.csproj

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

src/APIs/c_api/src/nav_c_api.cpp

@@ -83,6 +83,7 @@ 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/global_planners/two_points_planner/src/two_points_planner.cpp

@@ -174,8 +174,9 @@ namespace two_points_planner
     // Tính toán khoảng cách giữa điểm bắt đầu và điểm đích
     const double dx = goal.pose.position.x - start.pose.position.x;
     const double dy = goal.pose.position.y - start.pose.position.y;
-    double distance = std::sqrt(dx * dx + dy * dy);
+    const double distance = std::sqrt(dx * dx + dy * dy);
     double theta;
+
     if(fabs(dx) > 1e-9 || fabs(dy) > 1e-9)
     {
       theta = std::atan2(dy, dx);
@@ -186,9 +187,13 @@ namespace two_points_planner
       if(cos(goal_theta - theta) < 0) theta += M_PI;
     }
     else 
-    {
-      robot::log_error("[%s:%d]\n TwoPointsPlanner: can not calculating theta from 'start point' or 'goal point'", __FILE__, __LINE__);
-      return false;
+    { 
+      robot_geometry_msgs::PoseStamped pose = start;
+      pose.pose.position.x += 0.01 * cos(theta);
+      pose.pose.position.y += 0.01 * sin(theta);
+      plan.push_back(pose);
+      plan.push_back(goal);
+      return true;
     }
 
     // Lấy độ phân giải của costmap

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

@@ -89,7 +89,7 @@ public:
 
 private:
   /**
-   * @brief Resolve library path (handle relative paths, search in search_paths)
+   * @brief Resolve library path (absolute, then PNKX_NAV_CORE_LIBRARY_PATH, search_paths_, cwd)
    * @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

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

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);
@@ -2864,7 +2867,7 @@ bool move_base::MoveBase::executeCycle(robot_geometry_msgs::PoseStamped &goal)
       {
         robot::log_debug("Goal reached!");
         resetState();
-        swapPlanner(default_config_.base_global_planner);
+        // swapPlanner(default_config_.base_global_planner);
         // disable the planner thread
         boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);
         runPlanner_ = false;
@@ -3070,7 +3073,7 @@ bool move_base::MoveBase::executeCycle(robot_geometry_msgs::PoseStamped &goal)
     {
       robot::log_debug("All recovery behaviors have failed, locking the planner and disabling it.");
       resetState();
-      swapPlanner(default_config_.base_global_planner);
+      // swapPlanner(default_config_.base_global_planner);
 
       // disable the planner thread
       boost::unique_lock<boost::recursive_mutex> lock(planner_mutex_);