From 3aef8a04441eeb71bd344de065f611204eeec215 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Thu, 12 Mar 2026 01:44:18 +0800
Subject: [PATCH] =?UTF-8?q?=E5=85=B3=E9=97=ADnav=E7=9A=84yaw?=
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---
 .../config/reality/nav2_params_real.yaml             | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/src/rm_nav/rm_nav_bringup/config/reality/nav2_params_real.yaml b/src/rm_nav/rm_nav_bringup/config/reality/nav2_params_real.yaml
index bafcc50..f152f51 100644
--- a/src/rm_nav/rm_nav_bringup/config/reality/nav2_params_real.yaml
+++ b/src/rm_nav/rm_nav_bringup/config/reality/nav2_params_real.yaml
@@ -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
\ No newline at end of file