Precision navigation

Hi, I have build Robot navigation using ROS navigation package, But found it's accuracy error about 10 cm. If robot reach the target point nearby using ROS navigation package, How to do more precise navigation using 2D Laser for Precision navigation , Does anyone know have ros packages or method to do?

Asked by Nelson Wu on 2017-07-02 21:41:10 UTC

Comments

Is there any suggestion about this topic? Yes i decrease this params. It give me some improvement. What is the other solutions

Asked by bfdmetu on 2021-02-05 02:30:02 UTC

Please don't post comments as new answers. Use the 'add a comment' button for that.

Asked by skpro19 on 2021-02-07 14:36:20 UTC

Answers

You can improve the precision by decreasing the resolution parameter in your costmap config, and reducing the xy_goal_tolerance parameter in your local planner.

Asked by Procópio on 2017-07-12 02:16:14 UTC

Comments

Why would that work?

Asked by skpro19 on 2021-02-07 14:36:46 UTC

xy_goal_tolerance means how close to the goal you want to be. If you use 1m, for example, you will stop navigating once you are inside this threshold. resolution decrease means you will have smaller cells in your occupancy grid. this will also means you can get a more realistic position of obstacles and, therefore, navigate more precisely around then (narrow passages, get closer to obstacles, etc.)

Asked by Procópio on 2021-02-08 10:10:55 UTC

Makes sense. Thanks!

Asked by skpro19 on 2021-02-08 14:09:21 UTC