From fab5f811cb61e9267fc67b82ec161786b1cf50fa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E9=99=8C=E6=AC=A2=E9=86=89?= <264854363@qq.com>
Date: Fri, 5 Jun 2026 19:34:33 +0800
Subject: [PATCH] =?UTF-8?q?=E6=AD=A4=E4=B8=BA=E6=9B=B4=E5=BF=AB=E9=80=9F?=
 =?UTF-8?q?=E7=9A=84slam+=E8=87=AA=E5=AE=9A=E4=B9=89bt?=
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---
 .../config/nav_to_pose_ackermann.xml                  |  8 ++++----
 .../params/gc_navigation_slam.yaml                    | 11 ++++++-----
 2 files changed, 10 insertions(+), 9 deletions(-)

diff --git a/src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml b/src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml
index 3cda7ff..5b2cc52 100644
--- a/src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml
+++ b/src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml
@@ -25,10 +25,10 @@
             <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
             <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
           </Sequence>
-          <!-- 2. 后退 0.5m，给重新规划留空间（阿克曼无法原地旋转） -->
-          <BackUp backup_dist="0.50" backup_speed="0.05"/>
-          <!-- 3. 等待 1s，让动态障碍物离开 -->
-          <Wait wait_duration="1"/>
+          <!-- 2. 快速后退 0.8m，给重新规划留空间（阿克曼无法原地旋转） -->
+          <BackUp backup_dist="0.80" backup_speed="0.18"/>
+          <!-- 3. 短暂等待 0.3s，让新路径规划完成 -->
+          <Wait wait_duration="0.3"/>
         </RoundRobin>
       </ReactiveFallback>
     </RecoveryNode>
diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
index 47b13f3..31f37c5 100644
--- a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
+++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
@@ -8,7 +8,7 @@ bt_navigator:
     global_frame: map
     robot_base_frame: base_footprint
     odom_topic: /odom
-    bt_loop_duration: 20
+    bt_loop_duration: 50
     default_server_timeout: 20
     # 阿克曼底盘专用 BT：移除 Spin，恢复行为 = 清代价地图 → 后退 → 等待
     default_nav_to_pose_bt_xml: /home/guoch/test_ws/install/gc_navigation2_slamtoolbox/share/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml
@@ -64,12 +64,12 @@ bt_navigator_rclcpp_node:
 controller_server:
   ros__parameters:
     use_sim_time: True
-    controller_frequency: 30.0
+    controller_frequency: 20.0
     FollowPath:
       plugin: "nav2_mppi_controller::MPPIController"
-      time_steps: 56
+      time_steps: 36
       model_dt: 0.05
-      batch_size: 2000
+      batch_size: 1000
       vx_std: 0.2
       vy_std: 0.0
       wz_std: 0.4
@@ -313,7 +313,8 @@ behavior_server:
       plugin: "nav2_behaviors/Spin"    # 需保留以匹配默认 BT XML
     backup:
       plugin: "nav2_behaviors/BackUp"
-      backup_dist: 0.5
+      backup_dist: 0.8
+      backup_speed: 0.18
     wait:
       plugin: "nav2_behaviors/Wait"
       wait_duration: 0.5