Nav2 导航集成：新增 nav2_navigator.py，mission_executor 改用 Nav2 action 导航

- 新增 agv_app/utils/nav2_navigator.py：Nav2Navigator 类，通过 ros2 action
  /navigate_to_pose 和 /navigate_through_poses 与 Nav2 通信，支持路径点导航
- app.py：navigate/to, navigate/path, navigate/status 三个 API 改用 Nav2Navigator
- mission_executor.py：_execute_point 中调用 _nav2_go_to_point() 替代原来的
  time.sleep 模拟移动，Nav2 负责从当前点到目标点的自主导航
- 原有的 map_navigator.py（A* + Pure Pursuit 自实现）保留不动，供无 Nav2 时降级用

This commit is contained in:

ywb

2026-05-16 10:23:17 +08:00

parent 924f9f3be6

commit 2bb8dff4e2

5 changed files with 710 additions and 18 deletions

agv_app/timeout

View File

				`@@ -0,0 +1 @@`
				`bash: line 1: /dev/null1: Permission denied`