现在总体进程基本流畅，还差导航不够顺利。

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