robofish/MOVE_AI
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

关闭nav的yaw

Browse Source
This commit is contained in:
Robofish 2026-03-12 01:44:18 +08:00
parent 1ef187e23c
commit 3aef8a0444
1 changed files with 6 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

12
src/rm_nav/rm_nav_bringup/config/reality/nav2_params_real.yaml
View File

@ -141,9 +141,9 @@ controller_server:
#*******************************************************************************
max_vel_x: 2.0 #最大平移速度
max_vel_x_backwards: 2.0 #最大后退速度
max_vel_theta: 6.0 #最大转向角速度
max_vel_theta: 0.0 #最大转向角速度（暂时关闭wz）
acc_lim_x: 2.0 #最大平移加速度
acc_lim_theta: 6.0 #最大角加速度
acc_lim_theta: 0.0 #最大角加速度（暂时关闭wz）
is_footprint_dynamic: False #如果为真，在检查轨迹可行性之前更新足迹
use_proportional_saturation: False #如果为true，则按比例减少所有扭曲分量（线性x和y以及角度z）（如果任何扭曲分量超过其相应的界限），而不是单独饱和每个扭曲分量
transform_tolerance: 0.5 #在TF树中查询转换时的容差（秒）
@ -401,11 +401,11 @@ velocity_smoother:
smoothing_frequency: 20.0
scale_velocities: False
feedback: "OPEN_LOOP"
max_velocity: [2.0, 2.0, 3.0]
min_velocity: [-2.0, -2.0, -3.0]
max_velocity: [2.0, 2.0, 0.0]
min_velocity: [-2.0, -2.0, 0.0]
deadband_velocity: [0.0, 0.0, 0.0]
velocity_timeout: 1.0
max_accel: [2.0, 2.0, 6.0]
max_decel: [-2.0, -2.0, -6.0]
max_accel: [2.0, 2.0, 0.0]
max_decel: [-2.0, -2.0, 0.0]
odom_topic: "Odometry"
odom_duration: 0.1