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min_vel_x: -0.05 # 最小x方向速度（设置负数将会允许倒车） max_vel_y: 0.0 # 差分驱动机器人的最大y方向速度为 0.0 min_vel_y: 0.0 # 差分驱动机器人的最小y方向速度为 0.0 path_distance_bias: 32.0 ...