From a7b02deaa5d6c557b29dcf3382a435d75914c88d Mon Sep 17 00:00:00 2001
From: Orange <2314753575@qq.com>
Date: Sat, 13 Jun 2026 20:54:15 +0800
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---
 .../params/gc_navigation_slam.yaml                        | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
index cbcdef5..fd49aff 100644
--- a/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
+++ b/src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
@@ -105,7 +105,7 @@ controller_server:
       PreferForwardCritic:
         enabled: true
         cost_power: 1
-        cost_weight: 5.0
+        cost_weight: 2.0
         threshold_to_consider: 0.5
       CostCritic:
         enabled: true
@@ -119,7 +119,7 @@ controller_server:
       PathAlignCritic:
         enabled: true
         cost_power: 1
-        cost_weight: 14.0
+        cost_weight: 7.0  # PathAlignCritic
         max_path_occupancy_ratio: 0.05
         trajectory_point_step: 4
         threshold_to_consider: 0.5
@@ -273,8 +273,8 @@ planner_server:
       minimum_turning_radius: 0.40
       reverse_penalty: 1.3     # 后退惩罚，越小越愿意后退（默认 2.0，设为 1.3 允许灵活倒车）
       change_penalty: 0.0
-      non_straight_penalty: 1.2
-      cost_penalty: 2.0
+      non_straight_penalty: 0.5
+      cost_penalty: 5.0
       retrospective_penalty: 0.015
       lookup_table_size: 5.0
       cache_obstacle_heuristic: false