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@小鱼 其实我想问的是：当我想指定目标导航时，直接在goal_pose话题发布信息和使用服务或者动作是否只有有无反馈的区别？如果直接发布话题信息，nav2会怎么选择行为树，是直接默认使用nav_to_pose吗？
小
@王涛 读写参数是blackboard共享，这个函数是 on_tick ,所者这个use_start 是一个标志位，检查下这个标志在哪里被读取了
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