清理了一些没有用到的vlm_detect文件

src/navigation/obstacle_nav2/config/nav2_params.yaml

@@ -78,8 +78,8 @@ controller_server:
       batch_size: 1000
       vx_std: 0.22
       vy_std: 0.0
-      wz_std: 0.4
-      vx_max: 0.75
+      wz_std: 0.5
+      vx_max: 0.40
       vx_min: -0.75
       vy_max: 0.0
       wz_max: 2.0
@@ -92,16 +92,16 @@ controller_server:
         trajectory_step: 5
         time_step: 3
       AckermannConstraints:
-        min_turning_r: 0.4
+        min_turning_r: 0.6
       critics: ["ConstraintCritic", "CostCritic", "GoalCritic", "GoalAngleCritic", "PathAlignCritic", "PathFollowCritic", "PathAngleCritic", "PreferForwardCritic"]
-      ConstraintCritic:
+      ConstraintCritic: 
         enabled: true
         cost_power: 1
         cost_weight: 4.0
       GoalCritic:
         enabled: true
         cost_power: 1
-        cost_weight: 5.0
+        cost_weight: 3.0
         threshold_to_consider: 1.4
       GoalAngleCritic:
         enabled: true
@@ -111,7 +111,7 @@ controller_server:
       PreferForwardCritic:
         enabled: true
         cost_power: 1
-        cost_weight: 3.0
+        cost_weight: 6.0
         threshold_to_consider: 0.5
       CostCritic:
         enabled: true
@@ -140,7 +140,7 @@ controller_server:
       PathAngleCritic:
         enabled: true
         cost_power: 1
-        cost_weight: 2.0
+        cost_weight: 6.0
         offset_from_furthest: 4
         threshold_to_consider: 0.5
         max_angle_to_furthest: 1.0
@@ -175,12 +175,12 @@ local_costmap:
         transform_tolerance: 0.2
         default_obstacle_radius: 0.05
         minimum_obstacle_radius: 0.02
-        maximum_obstacle_radius: 0.50
+        maximum_obstacle_radius: 0.06
         extra_inflation: 0.02
       inflation_layer:
         plugin: "nav2_costmap_2d::InflationLayer"
         cost_scaling_factor: 3.0
-        inflation_radius: 0.55
+        inflation_radius: 0.2
       always_send_full_costmap: True
   local_costmap_client:
     ros__parameters:
@@ -245,7 +245,7 @@ planner_server:
       angle_quantization_bins: 72
       analytic_expansion_ratio: 3.5
       analytic_expansion_max_length: 3.0
-      minimum_turning_radius: 0.40
+      minimum_turning_radius: 0.60
       reverse_penalty: 1.9
       change_penalty: 1.0
       non_straight_penalty: 1.2
@@ -324,7 +324,7 @@ velocity_smoother:
     smoothing_frequency: 20.0
     scale_velocities: False
     feedback: "OPEN_LOOP"
-    max_velocity: [0.75, 0.0, 2.5]
+    max_velocity: [0.40, 0.0, 2.5]
     min_velocity: [-0.75, 0.0, -2.5]
     max_accel: [2.5, 0.0, 3.2]
     max_decel: [-0.5, 0.0, -0.5]