姿态参数

agv_app/app.py

@@ -418,6 +418,7 @@ def api_navigate_to():
     data = request.json
     goal_x = data.get("x")
     goal_y = data.get("y")
+    goal_yaw = data.get("yaw")  # 姿态参数，可选
     if goal_x is None or goal_y is None:
         return jsonify({"ok": False, "error": "缺少目标坐标 x, y"}), 400
 
@@ -428,7 +429,8 @@ def api_navigate_to():
         if gs.navigator is None:
             gs.navigator = Nav2Navigator()
         # navigate_to_pose(x, y, yaw=None, timeout_sec=120, blocking=False)
-        ok = gs.navigator.navigate_to_pose(float(goal_x), float(goal_y), blocking=False)
+        yaw_arg = float(goal_yaw) if goal_yaw is not None else None
+        ok = gs.navigator.navigate_to_pose(float(goal_x), float(goal_y), yaw_arg, blocking=False)
         if ok:
             return jsonify({"ok": True, "message": "导航已启动"})
         else: