修了一下障碍物相关

src/navigation/obstacle_nav2/config/nav2_params.yaml

@@ -76,13 +76,13 @@ controller_server:
       time_steps: 36
       model_dt: 0.05
       batch_size: 1000
-      vx_std: 0.75
+      vx_std: 0.22
       vy_std: 0.0
       wz_std: 0.4
-      vx_max: 1.75
+      vx_max: 0.75
       vx_min: -0.75
       vy_max: 0.0
-      wz_max: 1.5
+      wz_max: 2.0
       iteration_count: 1
       temperature: 0.3
       gamma: 0.015
@@ -109,9 +109,9 @@ controller_server:
         cost_weight: 3.0
         threshold_to_consider: 0.5
       PreferForwardCritic:
-        enabled: false
+        enabled: true
         cost_power: 1
-        cost_weight: 0.0
+        cost_weight: 3.0
         threshold_to_consider: 0.5
       CostCritic:
         enabled: true
@@ -246,10 +246,10 @@ planner_server:
       analytic_expansion_ratio: 3.5
       analytic_expansion_max_length: 3.0
       minimum_turning_radius: 0.40
-      reverse_penalty: 1.0
-      change_penalty: 0.0
+      reverse_penalty: 1.9
+      change_penalty: 1.0
       non_straight_penalty: 1.2
-      cost_penalty: 2.0
+      cost_penalty: 4.0
       retrospective_penalty: 0.015
       # 5 m covers the rolling planning horizon without the startup and memory
       # cost of the previous 20 m (401-cell) Hybrid-A* lookup table.
@@ -324,10 +324,10 @@ velocity_smoother:
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
-    max_velocity: [1.75, 0.0, 1.5]
-    min_velocity: [-0.75, 0.0, -1.5]
+    max_velocity: [0.75, 0.0, 2.5]
+    min_velocity: [-0.75, 0.0, -2.5]
     max_accel: [2.5, 0.0, 3.2]
-    max_decel: [-2.5, 0.0, -3.2]
+    max_decel: [-0.5, 0.0, -0.5]
     odom_topic: /odom_combined
     odom_duration: 0.1
     deadband_velocity: [0.03, 0.0, 0.03]