99 lines
5.0 KiB
Markdown
99 lines
5.0 KiB
Markdown
# Cấu trúc thư mục pnkx_nav_core
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Mô tả cấu trúc thư mục thực tế của dự án:
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```
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pnkx_nav_core/
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├── src/
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│ ├── Navigations/
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│ │ ├── Cores/
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│ │ │ ├── move_base_core/ # BaseNavigation interface
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│ │ │ ├── robot_nav_core/ # Planner interfaces (BaseGlobalPlanner, BaseLocalPlanner, RecoveryBehavior)
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│ │ │ ├── robot_nav_core_adapter/ # Adapter utilities (global_planner_adapter, local_planner_adapter, costmap_adapter)
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│ │ │ └── robot_nav_core2/ # Additional nav utilities (global_planner, local_planner, costmap)
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│ │ ├── Libraries/
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│ │ │ └── nav_grid/ # Navigation grid utilities
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│ │ └── Packages/
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│ │ └── move_base/ # MoveBase implementation
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│ │
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│ ├── Algorithms/
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│ │ ├── Cores/
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│ │ │ └── score_algorithm/ # Trajectory scoring và goal checking
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│ │ ├── Libraries/
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│ │ │ ├── mkt_algorithm/ # MKT kinematics (diff drive & bicycle)
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│ │ │ ├── mkt_plugins/ # MKT plugin components
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│ │ │ ├── mkt_msgs/ # MKT message types
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│ │ │ ├── kalman/ # Kalman filtering
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│ │ │ └── angles/ # Angle utilities
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│ │ └── Packages/
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│ │ ├── global_planners/
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│ │ │ ├── custom_planner/ # Custom global planner
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│ │ │ ├── dock_planner/ # Docking planner
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│ │ │ └── two_points_planner/ # Two points planner
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│ │ └── local_planners/
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│ │ └── pnkx_local_planner/ # PNKX local planner
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│ │
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│ ├── Libraries/
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│ │ ├── costmap_2d/ # Costmap system với 8 layers
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│ │ ├── tf3/ # Transform system
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│ │ ├── robot_time/ # Time management
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│ │ ├── robot_cpp/ # Core utilities (init, NodeHandle, PluginLoaderHelper)
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│ │ ├── robot_nav_2d_utils/ # 2D navigation utilities
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│ │ ├── robot_nav_2d_msgs/ # 2D navigation messages
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│ │ ├── geometry2/ # Geometry utilities (tf3_geometry_msgs, tf3_sensor_msgs)
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│ │ ├── common_msgs/ # Message types
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│ │ │ ├── robot_geometry_msgs/ # Geometry messages (29 types)
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│ │ │ ├── robot_nav_msgs/ # Navigation messages (24 types)
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│ │ │ ├── robot_sensor_msgs/ # Sensor messages (30 types)
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│ │ │ ├── robot_std_msgs/ # Standard messages (32 types)
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│ │ │ ├── robot_protocol_msgs/ # Protocol messages
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│ │ │ ├── robot_visualization_msgs/ # Visualization messages
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│ │ │ └── utils/ # Message utilities
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│ │ ├── laser_geometry/ # Laser geometry utilities
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│ │ ├── voxel_grid/ # Voxel grid
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│ │ ├── data_convert/ # Data conversion
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│ │ └── xmlrpcpp/ # XML-RPC utilities
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│ │
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│ └── APIs/
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│ └── c_api/ # C API wrapper cho .NET/C#
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│
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├── build/ # Build artifacts
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├── config/ # Configuration files
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├── examples/ # Example code
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└── doc/ # Documentation
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├── architecture_discussion.md
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├── implementation_plan.md
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├── folders.md
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└── readme.md
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```
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## Chi tiết các thư mục chính
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### Navigations/
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- **Cores/**: Interfaces và core utilities
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- `move_base_core`: BaseNavigation interface
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- `robot_nav_core`: Planner interfaces
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- `robot_nav_core_adapter`: Adapter layer
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- `robot_nav_core2`: Additional utilities
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- **Libraries/**: Navigation libraries
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- `nav_grid`: Grid utilities
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- **Packages/**: Implementations
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- `move_base`: MoveBase implementation
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### Algorithms/
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- **Cores/**: Core algorithms
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- `score_algorithm`: Trajectory scoring
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- **Libraries/**: Algorithm libraries
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- `mkt_algorithm`: Kinematics algorithms
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- `mkt_plugins`: Plugin components
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- `kalman`: Filtering
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- **Packages/**: Algorithm implementations
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- `global_planners/`: 3 planners
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- `local_planners/`: 1 planner với multiple behaviors
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### Libraries/
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- **costmap_2d/**: Costmap system với 8 layers
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- **tf3/**: Transform system
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- **robot_cpp/**: Core utilities (init, NodeHandle, PluginLoaderHelper)
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- **common_msgs/**: Message type definitions
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- Các utilities khác: time, geometry, sensors, etc. |