dwb配置全向轮，无法给机器人y方向速度

芳草地

ros2 humble下nav2我想用dwb配置全向轮机器人导航，从起始点到目标点最终结束时只需要x，y方向对了就行，不需要yaw方向。但是我发现——cmd_vel话题中y方向速度一直为0,我不知道问题出在了哪里，现在我的配置如下
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"
goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
controller_plugins: ["FollowPath"]

# Progress checker parameters
progress_checker:
  plugin: "nav2_controller::SimpleProgressChecker"
  required_movement_radius: 0.5
  movement_time_allowance: 10.0

general_goal_checker:
  stateful: True
  plugin: "nav2_controller::SimpleGoalChecker"
  xy_goal_tolerance: 0.25
  yaw_goal_tolerance: 6.2831852
# DWB parameters
FollowPath:
  plugin: "dwb_core::DWBLocalPlanner"
  debug_trajectory_details: True
  min_vel_x: -0.26
  min_vel_y: -0.26
  max_vel_x: 0.26
  max_vel_y: 0.26
  max_vel_theta: 1.0
  min_speed_xy: -0.4
  max_speed_xy: 0.4
  min_speed_theta: 0.0
  acc_lim_x: 2.5
  acc_lim_y: 2.5
  acc_lim_theta: 3.2
  decel_lim_x: -2.5
  decel_lim_y: -2.5
  decel_lim_theta: -3.2
  vx_samples: 20
  vy_samples: 20
  vtheta_samples: 0
  sim_time: 1.7
  linear_granularity: 0.05
  angular_granularity: 0.025
  transform_tolerance: 0.2
  xy_goal_tolerance: 0.25
  trans_stopped_velocity: 0.25
  short_circuit_trajectory_evaluation: True
  stateful: True
  critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
  BaseObstacle.scale: 0.02
  PathAlign.scale: 32.0
  GoalAlign.scale: 24.0
  PathAlign.forward_point_distance: 0.1
  GoalAlign.forward_point_distance: 0.1
  PathDist.scale: 32.0
  GoalDist.scale: 24.0
  RotateToGoal.scale: 32.0
  RotateToGoal.slowing_factor: 5.0
  RotateToGoal.lookahead_time: -1.0

芳草地

@1571563104 我的目的就是从A点到B点的过程中，只需要平移过去，不需要旋转，最后判断导航有没有结束时也只关心xy方向是不是满足我的目标值，至于yaw方向则不用管