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提高速度，还需要重新建图

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陌欢醉
2026-06-08 16:46:51 +08:00
parent db6686fccb
commit e386adf6d7
1 changed files with 2 additions and 2 deletions
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4
src/gc_navigation2_real/params/gc_navigation_slam_real.yaml
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@@ -84,8 +84,8 @@ controller_server:
vx_std: 0.2 vx_std: 0.2
vy_std: 0.0 vy_std: 0.0
wz_std: 0.4 wz_std: 0.4
vx_max: 0.4 # 实车最大线速度降低（安全） vx_max: 0.5 # 第一阶段提速：0.4→0.5（仿真已验证安全）
vx_min: -0.25 # 实车最大倒车速度降低 vx_min: -0.30 # 第一阶段提速：-0.25→-0.30
vy_max: 0.0 vy_max: 0.0
wz_max: 1.5 # 实车最大角速度降低 wz_max: 1.5 # 实车最大角速度降低
iteration_count: 1 iteration_count: 1