目前实现较快速从原点到达某个点，但是然后回到原点时有较大问题

src/planner/config/odom_hybrid_astar.yaml

@@ -0,0 +1,66 @@
+grid_astar_theta_planner:
+  ros__parameters:
+    use_sim_time: false
+
+    # Odom-only real-robot test:
+    # - /odom is the only localization source.
+    # - planner_odom_map_tf publishes map->odom from the provided start pose.
+    # - /map is optional static geometry from nav2_map_server; no lidar/AMCL is used.
+    map_frame: map
+    odom_topic: /odom
+    goal_pose_topic: /goal_pose
+    obstacles_topic: /random_obstacles
+    clear_obstacles_topic: /clear_random_obstacles
+    cancel_topic: /navigation_cancel
+    costmap_topic: /map
+    plan_topic: /plan
+    status_topic: /hybrid_astar_status
+
+    # real_10x10.yaml fallback bounds. When /map arrives, exact map bounds are
+    # applied because fit_map_to_costmap is true.
+    map_min_x: -5.0
+    map_min_y: -5.0
+    map_max_x: 5.0
+    map_max_y: 5.0
+    # A 10 cm planning grid keeps odom-only real-vehicle planning responsive
+    # over the full 10 x 10 m test area. The map remains used for collision
+    # checks at its native resolution.
+    resolution: 0.10
+    fit_map_to_costmap: true
+
+    obstacle_format: xyr
+    default_obstacle_radius: 0.15
+    unknown_obstacle_radius: 0.15
+    accumulate_obstacles: false
+    obstacle_merge_distance: 0.20
+    robot_radius: 0.14
+    localization_error: 0.05
+    latency_margin: 0.03
+    safety_margin: 0.06
+    costmap_occupied_threshold: 50
+    unknown_is_obstacle: true
+    outside_costmap_is_obstacle: true
+    inflate_static_map: true
+
+    min_turning_radius: 0.25
+    yaw_bins: 36
+    primitive_length: 0.12
+    collision_sample_step: 0.03
+    goal_xy_tolerance: 0.06
+    goal_yaw_tolerance: 0.174533
+    require_goal_yaw: false
+    use_grid_heuristic: true
+    heuristic_weight: 1.35
+    goal_yaw_heuristic_weight: 0.0
+    reverse_penalty: 1.5
+    turn_penalty: 0.05
+    gear_change_penalty: 0.25
+    steering_change_penalty: 0.02
+    max_iterations: 200000
+    planning_timeout_ms: 1500.0
+    replan_rate: 2.0
+    plan_on_obstacle_update: true
+    max_odom_age: 0.80
+    tf_timeout: 0.10
+    state_log_period: 1.0
+    search_progress_log_period_ms: 500.0