pnkx_nav_core/doc/folders.md

Cấu trúc thư mục pnkx_nav_core

Mô tả cấu trúc thư mục thực tế của dự án:

pnkx_nav_core/
├── src/
│   ├── Navigations/
│   │   ├── Cores/
│   │   │   ├── move_base_core/              # BaseNavigation interface
│   │   │   ├── robot_nav_core/              # Planner interfaces (BaseGlobalPlanner, BaseLocalPlanner, RecoveryBehavior)
│   │   │   ├── robot_nav_core_adapter/      # Adapter utilities (global_planner_adapter, local_planner_adapter, costmap_adapter)
│   │   │   └── robot_nav_core2/             # Additional nav utilities (global_planner, local_planner, costmap)
│   │   ├── Libraries/
│   │   │   └── nav_grid/                    # Navigation grid utilities
│   │   └── Packages/
│   │       └── move_base/                   # MoveBase implementation
│   │
│   ├── Algorithms/
│   │   ├── Cores/
│   │   │   └── score_algorithm/             # Trajectory scoring và goal checking
│   │   ├── Libraries/
│   │   │   ├── mkt_algorithm/               # MKT kinematics (diff drive & bicycle)
│   │   │   ├── mkt_plugins/                 # MKT plugin components
│   │   │   ├── mkt_msgs/                    # MKT message types
│   │   │   ├── kalman/                      # Kalman filtering
│   │   │   └── angles/                      # Angle utilities
│   │   └── Packages/
│   │       ├── global_planners/
│   │       │   ├── custom_planner/           # Custom global planner
│   │       │   ├── dock_planner/            # Docking planner
│   │       │   └── two_points_planner/      # Two points planner
│   │       └── local_planners/
│   │           └── pnkx_local_planner/      # PNKX local planner
│   │
│   ├── Libraries/
│   │   ├── costmap_2d/                      # Costmap system với 8 layers
│   │   ├── tf3/                             # Transform system
│   │   ├── robot_time/                      # Time management
│   │   ├── robot_cpp/                       # Core utilities (init, NodeHandle, PluginLoaderHelper)
│   │   ├── robot_nav_2d_utils/             # 2D navigation utilities
│   │   ├── robot_nav_2d_msgs/              # 2D navigation messages
│   │   ├── geometry2/                       # Geometry utilities (tf3_geometry_msgs, tf3_sensor_msgs)
│   │   ├── common_msgs/                     # Message types
│   │   │   ├── robot_geometry_msgs/         # Geometry messages (29 types)
│   │   │   ├── robot_nav_msgs/             # Navigation messages (24 types)
│   │   │   ├── robot_sensor_msgs/          # Sensor messages (30 types)
│   │   │   ├── robot_std_msgs/             # Standard messages (32 types)
│   │   │   ├── robot_protocol_msgs/        # Protocol messages
│   │   │   ├── robot_visualization_msgs/   # Visualization messages
│   │   │   └── utils/                       # Message utilities
│   │   ├── laser_geometry/                  # Laser geometry utilities
│   │   ├── voxel_grid/                      # Voxel grid
│   │   ├── data_convert/                    # Data conversion
│   │   └── xmlrpcpp/                        # XML-RPC utilities
│   │
│   └── APIs/
│       └── c_api/                           # C API wrapper cho .NET/C#
│
├── build/                                   # Build artifacts
├── config/                                  # Configuration files
├── examples/                                # Example code
└── doc/                                     # Documentation
    ├── architecture_discussion.md
    ├── implementation_plan.md
    ├── folders.md
    └── readme.md

Chi tiết các thư mục chính

Navigations/

• Cores/: Interfaces và core utilities
  • move_base_core: BaseNavigation interface
  • robot_nav_core: Planner interfaces
  • robot_nav_core_adapter: Adapter layer
  • robot_nav_core2: Additional utilities
• Libraries/: Navigation libraries
  • nav_grid: Grid utilities
• Packages/: Implementations
  • move_base: MoveBase implementation

Algorithms/

• Cores/: Core algorithms
  • score_algorithm: Trajectory scoring
• Libraries/: Algorithm libraries
  • mkt_algorithm: Kinematics algorithms
  • mkt_plugins: Plugin components
  • kalman: Filtering
• Packages/: Algorithm implementations
  • global_planners/: 3 planners
  • local_planners/: 1 planner với multiple behaviors

Libraries/

• costmap_2d/: Costmap system với 8 layers
• tf3/: Transform system
• robot_cpp/: Core utilities (init, NodeHandle, PluginLoaderHelper)
• common_msgs/: Message type definitions
• Các utilities khác: time, geometry, sensors, etc.