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- 使用 subprocess.run 替代 os.system，避免 POSIX 环境下状态码截断导致外部退出码为 0 - 执行测试与 launch 前提前检查文件是否存在，缺失时提示并以非0状态码退出 - 补充 --test/--test1 命令行选项，直接运行任务一单元测试 - 修复 OpenHUTB#140
donghaiwang
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Oct 8, 2026
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修改概述:
实现水下机器人 (ROV) 多波束声呐 SLAM 占据栅格建图与基于 Neural A* 的自主避障导航系统，并修复了上一个 PR 文档中的两处细节
close #148
修改的详细描述
docs/water/rov_trajectory_tracking.md第 76 行数学公式中的反斜杠转义问题，并在运行指南前补充了前置环境安装与依赖配置的提示框sonar_slam_node.py，基于 72 束前视声呐与里程计，运用贝叶斯对数几率更新生成 20m×20m 的占据栅格地图，广播/map话题与 TF2 坐标变换树，支持保存为 PGM 图像与 YAML 元数据文件neural_path_planner.py与autonomous_navigation_node.py，包含基于神经引导场的 Neural A* 全局路径规划与 76 维局部动态避障策略，并提供与经典 A* 和 DWA 算法的对比评测task3.launch.py、测试脚本test_task3.py、参考地图资产以及开发文档docs/water/rov_sonar_slam_navigation.md，并在setup.py、package.xml和mkdocs.yml中完成注册经过了什么样的测试?
python -m py_compile脚本校验通过colcon build --packages-select rov_mujoco顺利构建python3 src/water/rov_mujoco/main.py --test3，三大子项测试顺利通过--test1与--test2功能正常，无破坏性影响python -m mkdocs build构建成功，公式与导航链接均正常渲染运行效果（动图、视频、图片、链接等）
修改所对应的前后效果（代码/网页）：
文档中已配置任务三对应的演示动图与封面图（
docs/img/water/rov_sonar_slam_navigation.gif与.png）所使用具体的大模型声明：deepseek