AI代码解释 goal_checker:plugin:"nav2_controller::SimpleGoalChecker"xy_goal_tolerance:0.25yaw_goal_tolerance:0.25stateful:True 代码语言:javascript 代码运行次数:0 运行 AI代码解释 controller_server:ros__parameters:use_sim_time:F
3 controller_server 控制器服务器 nav2_controller,nav2_dwb_controller,nav2_regulated_pure_pursuit_controller 4 planner_server 规划服务器 nav2_planner,nav2_navfn_planner,smac_planner 5 recoveries_server 恢复服务器 nav2_recoveries 6 local_costmap 局部代价地图 nav2_costmap_2d,static_layer,inflation_l...
plugin: "nav2_controller::SimpleGoalChecker" xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.25 stateful: True controller_server: ros__parameters: use_sim_time: False controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 control...
由上可见,Nav2完成了去Master中心节点,服务模块BT Navigator Server、Recovery Server、Controller Server和Planner Server组成了Nav2的核心业务,通过Servers的功能集成方案使得系统框架的模块化更加完善。其中,BehaviorTree Navigator Server是Nav2引入的一个“全新”的概念,正是通过BT的所有的Plugins插件,Nav2才优雅地实现...
控制器服务器 Controller Server [nav2_controller_server] 输入:全局路径,代价地图 输出:速度指令 默认为DWB 控制器。 发布速度:~/cmd_vel (geometry_msgs/Twist) 包含多个插件: 轨迹生成器插件 评分插件 目标检查器插件 DWB控制器 DWB Controller 轨迹生成器插件 ...
controller_server: ros__parameters: use_sim_time: True controller_frequency: 20.0 min_x_velocity_threshold: 0.001 min_y_velocity_threshold: 0.5 min_theta_velocity_threshold: 0.001 failure_tolerance: 0.3 progress_checker_plugin: "progress_checker" ...
main Sign in to see the full file tree. nav2_controller/src controller_server.cpp Latest commit Nils-ChristianIseke and SteveMacenski Dynamic Parameters Only validating params that are part of the plugin (… May 23, 2025 7436bbe·May 23, 2025 ...
AI代码解释 planner_server:ros__parameters:expected_planner_frequency:20.0use_sim_time:Falseplanner_plugins:["GridBased"]GridBased:plugin:"nav2_navfn_planner/NavfnPlanner"tolerance:0.5use_astar:falseallow_unknown:true 下一节为控制(Controller)。
planner_server: ros__parameters: planner_plugin:"GridBased" use_astar:true controller_server: ros__parameters: controller_plugin:"FollowPath" 启动Nav2导航 ros2 launch nav2_bringup navigation_launch.py map:=/path/to/map.yaml 发送目标点使用RViz点击目标点或通过编程接口发送导航目标。
start_controller_server_node=Node(parameters=[get_package_share_directory("nav2_bringup")+'/params/nav2_params.yaml',{'use_sim_time':use_sim_time}],package='nav2_controller',executable='controller_server',name='controller_server',prefix=['xterm -e valgrind --tool=callgrind'],output='scre...