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目前可以通过Rviz2中手动标记目标点实现导航，但是我想用Nav2的API simple_commander实现导航，gotoPose和followPath方法都尝试了，分别有不同的报错： gotoPose：开始导航后显示距离目标点的距离是0，机器人也开始转圈，转了几秒之后就显示导航失败。Rviz中的机器人模型也在一直旋转 followPath:无法生成正常的路径 位置初始化我订阅了/initialpose话题，通过rivz2的2D pose Estimation给定位置。 调用API的代码如下图：
