hbmem usb摄像头的二维码检测

2026-06-22 21:54:12 +08:00
parent 3afee818e8
commit 630cb18277
10 changed files with 645 additions and 53 deletions
--- a/path_follower_demo.py
+++ b/path_follower_demo.py
@@ -32,7 +32,7 @@ class PathFollower(Node):
        # ── PID 参数 ──
        self.declare_parameter("kp", 0.8)
        self.declare_parameter("ki", 0.0)
-        self.declare_parameter("kd", 0.05)
+        self.declare_parameter("kd", 0.1)
        self.declare_parameter("linear_speed", 0.3)     # 前进速度 m/s
        self.declare_parameter("waypoint_tolerance", 0.1)  # 到达判定距离 m
        self.declare_parameter("max_angular", 10.0)       # 最大角速度 rad/s