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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?
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.
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: 2017-07-02 21:41:10 -0500
Seen: 533 times
Last updated: Feb 05 '21
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Is there any suggestion about this topic? Yes i decrease this params. It give me some improvement. What is the other solutions
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