I have some C++ code in which i give the turtlebot a coordinate using:

goal.target_pose.pose.position.x = mypoint.point.x

goal.target_pose.pose.position.y = mypoint.point.y

The robot moves from one point to another. However only rarely does it do this in a straight line. It seems as though the turtlebot starts moving before it is done rotating. There are not any obstacles inbetween the points. It is able to get to every point, but it tends to move in small arc between them.

Any ideas on how to force the robot to move in a straight line, when there are no obstacles in its way?

I use turtlebotbringup minimal.launch and turtlebotnavigation gmapping_demo.launch.