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"tf_failures": 0, "saw_plan_ok": true, "saw_plan_failed": false, "saw_goal_reached": false, "saw_align_goal_yaw": false, "saw_no_recent_odom": false }, "diagnostic_hints": [ "planner 的 goal_xy_tolerance 大于 tracker 的 goal_tolerance；planner 可能发布一个离原始目标较远的路径终点。", "planner 的 goal_yaw_tolerance 大于 tracker 的 goal_yaw_tolerance；planner 认为合格的终点 yaw，tracker 可能继续调整。", "tracker 的 min_linear_speed 数值大于 goal_tolerance；接近终点时可能仍以较高速度越过目标。", "最新 /plan 的终点到 /goal_pose 的距离大于 tracker 到点半径；tracker 跟随 /plan 时不会到达你原始输入的目标点。" ], "events": { "goals": [ { "elapsed_sec": 9.941826494999987, "frame_id": "map", "x": 1.5, "y": 1.5, "yaw": 0.0 }, { "elapsed_sec": 10.066145799000878, "frame_id": "map", "x": 1.5, "y": 1.5, "yaw": 0.0 }, { "elapsed_sec": 10.229273506000027, "frame_id": "map", "x": 1.5, "y": 1.5, "yaw": 0.0 }, { "elapsed_sec": 10.312182445000872, "frame_id": "map", "x": 1.5, "y": 1.5, "yaw": 0.0 }, { "elapsed_sec": 10.469416641000862, "frame_id": "map", "x": 1.5, "y": 1.5, "yaw": 0.0 } ], "plans": [ { 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