-

agv_app/utils/agv_controller_ros2.py

@@ -76,7 +76,7 @@ class AGVController:
         if rc != 0:
             logger.warning(f"发布 cmd_vel 失败: {err}")
 
-    def move_forward(self, speed: float = 0.5, duration: float = None):
+    def move_forward(self, speed: float = 1.0, duration: float = None):
         """前进"""
         if not self.is_connected():
             return
@@ -85,7 +85,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def move_backward(self, speed: float = 0.5, duration: float = None):
+    def move_backward(self, speed: float = 1.0, duration: float = None):
         """后退"""
         if not self.is_connected():
             return
@@ -94,7 +94,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def turn_left(self, speed: float = 0.5, duration: float = None):
+    def turn_left(self, speed: float = 1.0, duration: float = None):
         """左转"""
         if not self.is_connected():
             return
@@ -103,7 +103,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def turn_right(self, speed: float = 0.5, duration: float = None):
+    def turn_right(self, speed: float = 1.0, duration: float = None):
         """右转"""
         if not self.is_connected():
             return
@@ -112,7 +112,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def move_left_lateral(self, speed: float = 0.5, duration: float = None):
+    def move_left_lateral(self, speed: float = 1.0, duration: float = None):
         """向左横向移动"""
         if not self.is_connected():
             return
@@ -121,7 +121,7 @@ class AGVController:
             time.sleep(duration)
             self.stop()
 
-    def move_right_lateral(self, speed: float = 0.5, duration: float = None):
+    def move_right_lateral(self, speed: float = 1.0, duration: float = None):
         """向右横向移动"""
         if not self.is_connected():
             return
@@ -176,7 +176,7 @@ class AGVController:
             return self._position
         return None
 
-    def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 0.5) -> bool:
+    def go_to_point(self, x: float, y: float, rz: float = None, speed: float = 1.0) -> bool:
         """移动到目标点（需要 ROS2 导航栈）"""
         logger.warning("go_to_point 需要 ROS2 Nav2 支持，当前仅记录目标")
         return True