Hey,

I have a custom bot with Ros-Navigation-Stack on a Raspberry Pi. Laserscanner is Hokuyo UTM-30LX-EW. The Problem is that the robot moves straight out, and then turns around in circles until it arrives the goal.

All Data (Odom, Scanner etc) seems to be okay.

Here are rviz screenshots:

https://www.dropbox.com/s/y1o2lgpv4gez4w4/Error1.png?dl=0

https://www.dropbox.com/s/wgz4mjp1tjhpybl/Error2.png?dl=0

Short routes (Goals) moves the robot without any problems.

Here are my Config-Files

baselocalplanner

TrajectoryPlannerROS:
max_vel_x: 0.2
min_vel_x: 0.1
max_vel_theta: 0.2
min_in_place_rotational_vel: 0.2

acc_lim_theta: 0.2
acc_lim_x: 0.2
acc_lim_y: 0.2

yaw_goal_tolerance: 0.05
xy_goal_tolerance: 0.1
latch_xy_goal_tolerance: true

#controller_frequency: 2.0
holonomic_robot: false
meter_scoring: true

costmapcommonparams.yaml

obstacle_range: 0.8
raytrace_range: 1.2
footprint: [ [0.2, 0.2], [-0.2, 0.2], [-0.2, -0.2], [0.2, -0.2] ]

inflation_radius: 0.15
transform_tolerance: 1.0

observation_sources: laser_scan_sensor #point_cloud_sensor

laser_scan_sensor: {data_type: LaserScan,
                sensor_frame: base_laser,
                expected_update_rate: 3.0,
                topic: scan,
                marking: true,
                clearing: true}



#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing:         true}

globalcostmapparams.yaml

 global_costmap:
  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 0.25
  publish_frequency: 0.5
  static_map: true

localcostmapparams.yaml

local_costmap:
  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 0.22
  publish_frequency: 0.5
  static_map: false
  rolling_window: true
  width: 5.0
  height: 5.0
  resolution: 0.025

Can anyone help me with my problem?

Thanks in advance for your answers

Max