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目前实现较快速从原点到达某个点，但是然后回到原点时有较大问题

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Orange
2026-07-22 17:37:07 +08:00
parent 9b06d149d5
commit 90761b40b2
49 changed files with 120143 additions and 63 deletions
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44
src/planner/package.xml
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@@ -1,12 +1,12 @@
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>planner</name>
<version>0.0.0</version>
<description>Minimal Nav2 global planning stack: slam_toolbox + planner_server + costmaps + lifecycle_manager</description>
<maintainer email="2314753575@qq.com">sunrise</maintainer>
<license>TODO: License declaration</license>
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>planner</name>
<version>0.0.0</version>
<description>Lightweight Ackermann Hybrid A* planner, path tracker, and real-robot test tools</description>
<maintainer email="2314753575@qq.com">sunrise</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
@@ -16,19 +16,31 @@
<depend>slam_toolbox</depend>
<depend>nav2_planner</depend>
<depend>nav2_costmap_2d</depend>
<depend>nav2_lifecycle_manager</depend>
<depend>nav2_common</depend>
<depend>nav2_util</depend>
<depend>tf2</depend>
<depend>tf2_geometry_msgs</depend>
<depend>tf2_ros</depend>
<exec_depend>ament_index_python</exec_depend>
<exec_depend>ackermann_msgs</exec_depend>
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>origincar_base</exec_depend>
<exec_depend>origincar_description</exec_depend>
<exec_depend>robot_localization</exec_depend>
<exec_depend>nav2_map_server</exec_depend>
<exec_depend>nav2_amcl</exec_depend>
<exec_depend>nav2_lifecycle_manager</exec_depend>
<exec_depend>lslidar_driver</exec_depend>
<exec_depend>sensor_msgs</exec_depend>
<exec_depend>rclpy</exec_depend>
<exec_depend>rcl_interfaces</exec_depend>
<exec_depend>python3-yaml</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>