障碍物nav2做了一些修改，使速度更快

src/navigation/obstacle_nav2/config/nav2_params.yaml

@@ -76,11 +76,11 @@ controller_server:
       time_steps: 36
       model_dt: 0.05
       batch_size: 1000
-      vx_std: 0.2
+      vx_std: 0.75
       vy_std: 0.0
       wz_std: 0.4
-      vx_max: 0.5
-      vx_min: -0.30
+      vx_max: 1.75
+      vx_min: -0.75
       vy_max: 0.0
       wz_max: 1.5
       iteration_count: 1
@@ -109,9 +109,9 @@ controller_server:
         cost_weight: 3.0
         threshold_to_consider: 0.5
       PreferForwardCritic:
-        enabled: true
+        enabled: false
         cost_power: 1
-        cost_weight: 5.0
+        cost_weight: 0.0
         threshold_to_consider: 0.5
       CostCritic:
         enabled: true
@@ -144,7 +144,7 @@ controller_server:
         offset_from_furthest: 4
         threshold_to_consider: 0.5
         max_angle_to_furthest: 1.0
-        forward_preference: true
+        forward_preference: false
 
 controller_server_rclcpp_node:
   ros__parameters:
@@ -246,7 +246,7 @@ planner_server:
       analytic_expansion_ratio: 3.5
       analytic_expansion_max_length: 3.0
       minimum_turning_radius: 0.40
-      reverse_penalty: 1.3
+      reverse_penalty: 1.0
       change_penalty: 0.0
       non_straight_penalty: 1.2
       cost_penalty: 2.0
@@ -317,3 +317,18 @@ waypoint_follower:
       plugin: "nav2_waypoint_follower::WaitAtWaypoint"
       enabled: True
       waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: False
+    smoothing_frequency: 20.0
+    scale_velocities: False
+    feedback: "OPEN_LOOP"
+    max_velocity: [1.75, 0.0, 1.5]
+    min_velocity: [-0.75, 0.0, -1.5]
+    max_accel: [2.5, 0.0, 3.2]
+    max_decel: [-2.5, 0.0, -3.2]
+    odom_topic: /odom_combined
+    odom_duration: 0.1
+    deadband_velocity: [0.03, 0.0, 0.03]
+    velocity_timeout: 1.0