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此为更快速的slam+自定义bt

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陌欢醉
2026-06-05 19:34:33 +08:00
parent f95b087143
commit fab5f811cb
2 changed files with 10 additions and 9 deletions
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8
src/gc_navigation2_slamtoolbox/config/nav_to_pose_ackermann.xml
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@@ -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>