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    机器人在单点导航时不规划路径

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    • 小伊小
      机器人小伊
      最后由 编辑

      根据您提供的信息和错误日志，我们可以分析并尝试解决小车在单点导航时遇到的问题。以下是一些可能的原因和解决方案：

      1. 时间戳问题

      错误日志中的 Message Filter dropping message 指出接收到的时间戳早于当前变换缓存中的时间戳。这通常是由于传感器数据（如激光扫描数据）或地图服务器发送的数据时间戳与ROS系统时间不同步或延迟过大导致的。

      解决方案：

      • 确保所有节点的 use_sim_time 参数设置正确。如果您的系统是基于物理的（非仿真），确保 use_sim_time 设置为 false。
      • 检查并优化系统的网络延迟和处理器负载，确保传感器数据能够及时处理。
      • 检查并校准传感器的时间戳生成逻辑，确保它们与ROS系统时间同步。

      2. AMCL 节点问题

      AMCL（自适应蒙特卡洛定位）节点也报告了时间戳问题，这可能是因为它依赖的激光扫描或其他定位数据没有及时更新。

      解决方案：

      • 确保 AMCL 节点能够接收到有效的激光扫描数据和其他必要的定位信息。
      • 检查 AMCL 的配置文件，确保所有必要的参数都已正确设置。

      3. 地图服务器和变换问题

      如果 RViz 显示“planner下的组件显示没有接受到地图”，这通常意味着地图数据没有正确加载或变换（TF）没有正确设置。

      解决方案：

      • 确保地图文件 (imu_map.yaml) 正确无误，并且地图服务器 (map_server) 正在运行且能正确加载地图。
      • 检查 TF 树，确保所有必要的变换（如从 base_link 到 map 的变换）都已正确设置并发布。
      • 在 RViz 中使用 TF 插件来可视化 TF 树，检查是否有缺失的变换或错误的连接。

      4. 导航配置和状态

      如果 nav 和 location 显示为 inactive，这可能是因为导航堆栈的某些部分没有正确启动或配置。

      解决方案：

      • 检查 fishbot_nav2.yaml 文件中的配置，确保所有必要的导航参数都已正确设置。
      • 使用 ros2 service call /liftcycle_manager_mapper/get_state lifecycle_msgs/srv/GetState 命令来检查 AMCL 和其他导航相关节点的状态。
      • 确保 lifecycle_manager 正在管理所有相关的导航节点，并且它们都处于激活状态。

      5. RViz 配置

      确保 RViz 的配置正确，特别是与导航相关的插件（如目标设置、路径规划显示等）已正确配置。

      总结：
      您的问题可能涉及多个方面，包括时间戳同步、地图加载、TF 设置、导航配置以及 RViz 配置。建议逐一检查这些方面，并根据上述建议进行调整。如果问题仍然存在，可能需要更详细地检查系统日志或增加调试输出来进一步诊断问题。

      以上为生成回答，仅供参考～

      我是小伊，已接入ChatGpt，所有回复，仅供参考～

      1 条回复 最后回复 回复 引用 0
      • 小鱼小
        小鱼 技术大佬 @1814638019
        最后由 编辑

        @1814638019 在 机器人在单点导航时不规划路径 中说：

        [rviz2-2] [INFO] [1722310347.323473487] [rviz2]: NavigateToPose will be called using the BT Navigator's default behavior tree.
        [rviz2-2] [ERROR] [1722310347.323740453] [rviz2]: Goal was rejected by server

        应该还有更进一步的日志信息

        新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

        1 2 条回复 最后回复 回复 引用 0
        • 1
          1814638019 @小鱼
          最后由 编辑

          @小鱼 终端内的能截取到的全部代码

          [component_container_isolated-1] [INFO] [1722328690.796172177] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328690.796172158] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328690.862376438] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328690.862376512] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328690.929077694] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328690.929077741] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328690.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328692.926502540] [lifecycle_manager_navigation]: Server behavior_server connected with bond.
[component_container_isolated-1] [INFO] [1722328692.926562950] [lifecycle_manager_navigation]: Activating bt_navigator
[component_container_isolated-1] [INFO] [1722328692.926919164] [bt_navigator]: Activating
[component_container_isolated-1] [ERROR] [1722328692.927391217] [bt_navigator]: Caught exception in callback for transition 13
[component_container_isolated-1] [ERROR] [1722328692.927425842] [bt_navigator]: Original error: Error at line 12: -> Node not recognized: RemovePassedGoals
[component_container_isolated-1] [WARN] [1722328692.927490205] [bt_navigator]: Error occurred while doing error handling.
[component_container_isolated-1] [FATAL] [1722328692.927522578] [bt_navigator]: Lifecycle node bt_navigator does not have error state implemented
[component_container_isolated-1] [ERROR] [1722328692.927960623] [lifecycle_manager_navigation]: Failed to change state for node: bt_navigator
[component_container_isolated-1] [ERROR] [1722328692.927993540] [lifecycle_manager_navigation]: Failed to bring up all requested nodes. Aborting bringup.
[component_container_isolated-1] [INFO] [1722328693.261125604] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328692.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.261125486] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328692.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.328029683] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.328058336] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.394960022] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.395025228] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.461230244] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.461284224] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.528123912] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.528132964] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.595115140] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.595178439] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.661358248] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.661360080] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.728752758] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.728786474] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.795139915] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.795190506] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.862338103] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.862341684] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.929241307] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.929241211] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.996267304] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328693.996277213] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.062965045] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.063067200] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.129994316] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.130068307] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.196350259] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.196350253] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.263199813] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.263200010] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328693.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.329758524] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.329758713] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.396765256] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.396819624] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.462762505] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.462789260] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.529939233] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.530058021] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.596301286] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.596302698] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.663413611] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.663413718] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.730333632] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.730535289] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.796904071] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.796904433] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.863666504] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.863701495] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.929720717] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.929762923] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.996976483] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328694.996983951] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.063808607] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.063808565] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.130950916] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.131014258] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.197405303] [global_costmap.global_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[component_container_isolated-1] [INFO] [1722328695.197411902] [local_costmap.local_costmap]: Message Filter dropping message: frame 'laser_link' at time 1722328694.000 for reason 'the timestamp on the message is earlier than all the data in the transform cache'
[rviz2-2] Start navigation
[rviz2-2] [INFO] [1722328746.600351549] [rviz2]: NavigateToPose will be called using the BT Navigator's default behavior tree.
[rviz2-2] [ERROR] [1722328746.602093016] [rviz2]: Goal was rejected by server
          小鱼小 1 条回复 最后回复 回复 引用 0
          • 1
            1814638019 @小鱼
            最后由 编辑

            @小鱼 感谢您的回复

            1 条回复 最后回复 回复 引用 0
            • 小鱼小
              小鱼 技术大佬 @1814638019
              最后由 编辑

              @1814638019 在 机器人在单点导航时不规划路径 中说：

              [component_container_isolated-1] [ERROR] [1722328692.927425842] [bt_navigator]: Original error: Error at line 12: -> Node not recognized: RemovePassedGoals

              问题应该出在这里，你有修改行为树吗

              新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

              1 3 条回复 最后回复 回复 引用 0
              • 1
                1814638019 @小鱼
                最后由 编辑

                @小鱼 没修改过

                1 条回复 最后回复 回复 引用 0
                • 1
                  1814638019 @小鱼
                  最后由 编辑

                  @小鱼 从学ros2 那里下载的源码 只修改了fishbot文件夹里面launch和params部分

                  1 条回复 最后回复 回复 引用 0
                  • 1
                    1814638019 @小鱼
                    最后由 编辑

                    @小鱼 是这里的代码吗？

                    navigation2/nav2_bt_navigator/behavior_trees navigate_to_pose_w_replanning_goal_patience_and_recovery.xml
  
<!--
  This Behavior Tree replans the global path periodically at 1 Hz through an array of poses continuously
   and it also has recovery actions specific to planning / control as well as general system issues.
-->
<root main_tree_to_execute="MainTree">
  <BehaviorTree ID="MainTree">
    <RecoveryNode number_of_retries="6" name="NavigateRecovery">
      <PipelineSequence name="NavigateWithReplanning">
        <RateController hz="0.333">
          <RecoveryNode number_of_retries="1" name="ComputePathThroughPoses">
            <ReactiveSequence>
              <RemovePassedGoals input_goals="{goals}" output_goals="{goals}" radius="0.7"/>
              <ComputePathThroughPoses goals="{goals}" path="{path}" planner_id="GridBased"/>
            </ReactiveSequence>
            <ClearEntireCostmap name="ClearGlobalCostmap-Context" service_name="global_costmap/clear_entirely_global_costmap"/>
          </RecoveryNode>
        </RateController>
        <RecoveryNode number_of_retries="1" name="FollowPath">
          <FollowPath path="{path}" controller_id="FollowPath"/>
          <ClearEntireCostmap name="ClearLocalCostmap-Context" service_name="local_costmap/clear_entirely_local_costmap"/>
        </RecoveryNode>
      </PipelineSequence>
      <ReactiveFallback name="RecoveryFallback">
        <GoalUpdated/>
        <RoundRobin name="RecoveryActions">
          <Sequence name="ClearingActions">
            <ClearEntireCostmap name="ClearLocalCostmap-Subtree" service_name="local_costmap/clear_entirely_local_costmap"/>
            <ClearEntireCostmap name="ClearGlobalCostmap-Subtree" service_name="global_costmap/clear_entirely_global_costmap"/>
          </Sequence>
          <Spin spin_dist="1.57"/>
          <Wait wait_duration="5"/>
          <BackUp backup_dist="0.30" backup_speed="0.05"/>
        </RoundRobin>
      </ReactiveFallback>
    </RecoveryNode>
  </BehaviorTree>
</root>
                    小鱼小 1 条回复 最后回复 回复 引用 0
                    • 小鱼小
                      小鱼 技术大佬 @1814638019
                      最后由 编辑

                      @1814638019 你下载的是哪个版本的

                      新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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                      • 1
                        1814638019 @小鱼
                        最后由 编辑

                        此回复已被删除！
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                        • 1
                          1814638019 @小鱼
                          最后由 编辑

                          @小鱼 e98c878f-2500-4b80-a9ac-2cc574e16076-image.png
                          大佬，我直接用的你的工作空间😏

                          小鱼小 1 条回复 最后回复 回复 引用 0
                          • 小鱼小
                            小鱼 技术大佬 @1814638019
                            最后由 编辑

                            @1814638019 这个版本我还真不确定能不能用，主要是参数比较老了，nav2在更新，建议手动的按照教程配一遍参数，推荐下新书里的导航配置过程：书籍&社区铭牌购买链接：https://item.taobao.com/item.htm?id=819899547761

                            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

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