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现在总体进程基本流畅，还差导航不够顺利。

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2026-06-13 20:54:15 +08:00
parent 05511008d2
commit a7b02deaa5
1 changed files with 4 additions and 4 deletions
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8
src/gc_navigation2_slamtoolbox/params/gc_navigation_slam.yaml
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@@ -105,7 +105,7 @@ controller_server:
PreferForwardCritic: PreferForwardCritic:
enabled: true enabled: true
cost_power: 1 cost_power: 1
cost_weight: 5.0 cost_weight: 2.0
threshold_to_consider: 0.5 threshold_to_consider: 0.5
CostCritic: CostCritic:
enabled: true enabled: true
@@ -119,7 +119,7 @@ controller_server:
PathAlignCritic: PathAlignCritic:
enabled: true enabled: true
cost_power: 1 cost_power: 1
cost_weight: 14.0 cost_weight: 7.0 # PathAlignCritic
max_path_occupancy_ratio: 0.05 max_path_occupancy_ratio: 0.05
trajectory_point_step: 4 trajectory_point_step: 4
threshold_to_consider: 0.5 threshold_to_consider: 0.5
@@ -273,8 +273,8 @@ planner_server:
minimum_turning_radius: 0.40 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） 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 change_penalty: 0.0
non_straight_penalty: 1.2 non_straight_penalty: 0.5
cost_penalty: 2.0 cost_penalty: 5.0
retrospective_penalty: 0.015 retrospective_penalty: 0.015
lookup_table_size: 5.0 lookup_table_size: 5.0
cache_obstacle_heuristic: false cache_obstacle_heuristic: false