How can I make my local plan path in navigation stack longer?
Hy,
I have a pretty large robot which I'm trying to navigate using ROS Navigation stack. It is about 1.2m long and 0.8m wide. The problem is, when moving, the robot trajectory is oscillating around calculated global path (in other words - robot is not moving straight). At first I thought that the problem could be in control loop frequency which couldn't reach higher than 4Hz but after solving that problem the robot was still acting basically the same. Here is the link to the question about control loop frequency
http://answers.ros.org/question/22713...
When looking in rviz the calculated local plan, I find it very short (practically less than 30cm), when comparing it with my robots dimensions. It is always a lot shorter than my robot's footprint. So I was thinking if I could make my local plan longer the robot wouldn't oscillate that much.
So the question is - How can I make my local plan path in navigation stack longer?
Thanks in advance
hello, i meet the same problom, do you have solved this one?
Hi @jiecuiok, could you please not post answers when you're not answering the question? Please use comments for these kinds of interactions. Thanks.
what is the local planner you are using?
the default local planner.I have solved this problem with tunning the sim_time and pdis_scale and gdis_scale.