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我参考nav2实现了寻迹功能，目前可以按照路劲进行寻迹。但是会频繁的启动恢复服务器。但是其实车子没有偏离轨迹。因为需要寻迹我把加减速度都设置为了0.5。是什么原因触发了恢复服务器？可以调整什么参数解决呢？