fix(planning,control): stabilize reverse behavior and decouple front-distance reflex#124

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xiaolefang-dm wants to merge 13 commits intomainfrom

xiaole/optimized/planning

Commits on Apr 29, 2026

fix(planning): stop publishing path when robot reaches goal (< 0.3m)

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fix(planning): compare camera position to target_pose for goal-reached check

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fix(nav): stop robot properly when no active nav target

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change dist_to_goal

xiaolefang
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refactor(planning): remove redundant goal-reached check

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Remove unnecessary path publishing in planning_node
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refine planning and cmd_vel coordination for safer maneuvering
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fix(planning): remove front_dist topic and gate reverse in planner cost
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chore: add trailing newlines to planning and control files
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fix(control): remove leftover merge conflict marker in cmd_vel_control
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feat(planning): introduce predefined trajectory vocabularies and streamline velocity sampling
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refactor(planning): enhance trajectory penalty calculations and clarify comments
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fix(planning): correct typo prefined -> predefined in trajectory vocabularies
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