Wrong localization using AMCL and move_base
Hi all,
I am currently trying to set up the robot to navigate a known map using move_base. The global and local planners are set as follows:
<arg name="base_global_planner" default="navfn/NavfnROS"/>
<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/>
The start pose of the robot is determined using amcl. However, there is an error in the localization result given by amcl.
Then, I correct the robot's localization using the '2D pose estimate' function on RVIZ. However, when I give a goal to the robot, the robot thinks that it arrived at the goal when in fact it will be around 1.6m away from the goal.
Here is a link with all the pictures mentioned. In the link there is also a picture of the actual environment of the robot
Is there any way to solve this?
Thanks
Picture is not accessible
Edited the link. It should work now. Thanks!
Are you sure the robot has reached the goal instead of failure?
It does not give any indication of failure because there are no errors or warnings issued by move_base. It seems that the robot thinks it has arrived to the goal when in fact it is around 1.6m away. I am thinking that it is a localization issue. Any guidance?
Where is local planner's parameters?