Ros Navigation assistance

I am trying to figure out why my Clearpath Ridgeback makes a complete revolution when trying to lock in on some of my locations. It seems to happen at the ones that are furthest from my starting point or origin location. I have also noticed that the localization drifts off as the robot sits in location.

Here is a video of the issue: https://www.youtube.com/watch?v=Fd2K2j3QmlY

Here is a tuning spreadsheet that I made up the current values are in the Original value column unless column. If I changed them they are in the TEST 1 or TEST 2 column:

https://drive.google.com/open?id=1_fCAlZwFNxZYt_n2heOoOIh0bfJvnBgRYoNUKyH4PY0

Here are some pictures representing the drift:

https://drive.google.com/open?id=0B6GXRrtXO0lAcDdGR2l3aGRNN0ctUGZtSGZ0V1BpQ29wRV9J https://drive.google.com/open?id=0B6GXRrtXO0lASkZzalZyQ0hhVERYMGc0ZTNINXlUZmNJZnNz

The first picture is after setting the Navigation estimate and turning it 360 to tune it in. the second is after it sits for about 2 minutes.

Asked by mewescott on 2017-09-14 10:47:17 UTC

Comments

Can you please post your data somewhere that doesn't require you to sign in to see it? Thanks.

Asked by jayess on 2017-09-14 17:40:41 UTC

I replaced the video link with a Youtube video. I can not seem to attach a excel file to replace the google sheets link though.

Asked by mewescott on 2017-09-15 16:28:36 UTC

Looks like the video is unavailable

Asked by jayess on 2017-09-15 16:43:38 UTC

Can you also confirm that this rotation occurs when the target is set directly behind the Ridgeback? Does this occur if the target is set along a trajectory starting from the front of the Ridgeback?

Asked by surfertas on 2017-09-16 22:23:52 UTC

I can open the YouTube video. The thumbnail does not show but the video still runs.

Asked by mewescott on 2017-09-18 08:55:51 UTC

I do not have a lot of room behind the robot when the robots start from its normal position in the room. From what I can tell it has no issues when given a navigation point behind it. It seems to start having issues when given points over 10 meters away from the starting point.

Asked by mewescott on 2017-09-18 08:57:11 UTC

The far points are in another room from the router but I do have open doors between them. The nav stack is running on the robot and it is ROS master so I wouldn't think a week Wifi signal would cause this.

Asked by mewescott on 2017-09-18 08:59:07 UTC

Looks like my question is going unanswered like so many other posts on this forum. I need some help here. I have a demo on Friday and I am lost on how to fix the issue.

Asked by mewescott on 2017-09-19 22:23:55 UTC

Hi when I click on the YouTUBE video I get "This video is unavailable."

Asked by surfertas on 2017-09-19 22:40:52 UTC

I don't see the video either.

Asked by jayess on 2017-09-19 22:46:34 UTC