Turtlebot moving circles with map

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Hi guys ,

I try to move my turtlebot with a map. I finished my example where i give a point to my bot. After he got the point he moves to the point but he drive in circles. When i start the script two times he moves correctly most of the time.

Can somebody help me?

I use Ros Kinetic with Gazebo 7.0. First of all i start gazebo:

roslaunch turtlebot_gazebo turtlebot_world.launch

after this i load the map:

roslaunch turtlebot_gazebo amcl_demo.launch

After this i use a script to move to a point or a bunch of points with my robot. Sometimes the robot drives in the direction of the point but he circles around while he moves. He rotates around 360 degree drives a bit further then he stop and rotates again. Most of the time i need to restart the script and he drives straight to the point without any circles.

I used this script as a foundation for my purpose:

https://github.com/markwsilliman/turt...