ywb
2bb8dff4e2
- 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
71 lines
1.2 KiB
JSON
71 lines
1.2 KiB
JSON
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{
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"id": "m_1778767289",
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"name": "机型1",
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"serial_prefix": "",
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"poses": [
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{
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"id": "pose_1778767302",
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"name": "front_1",
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"photo_type": "front",
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"speed": 500,
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"name": "front_2",
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"id": "pose_1778767323",
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"name": "back_1",
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"photo_type": "back",
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"arm_angles": [
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"name": "back_2",
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