Problem with navigation stack, weird cmd_vel
I am using navigation stack with DWA planner, when I give a goal in rviz, a path is created but the robot doesn't follow that path and instead goes crazy and starts going in opposite directions and rotating.
I tried before this using teleop and everything works fine, the problem is with the cmd_vel generated from the planner that doesn't make sense.
Asked by AchrafGazzeh on 2022-10-05 02:45:32 UTC
Comments
I request to elaborate more, please.
Asked by ravijoshi on 2022-10-05 04:53:30 UTC
For example, I'm giving a goal where the robot has to go 1 meters straight. the path is created however the robot starts going backwards. while it's supposed to be going just forward to reach its goal
Asked by AchrafGazzeh on 2022-10-05 05:10:44 UTC
Did you check/monitor the
cmd_vel? I am trying to understand "... cmd_vel generated from the planner that doesn't make sense"Asked by ravijoshi on 2022-10-05 05:15:47 UTC
I would suggest checking the orientation of the various TF / URDF frames.
"robot starts going backwards" could be caused by
base_linknot having the correct orientation fi. REP-103 mandates X+ should be forward for instance. If that's not the case, weird things can happen. If the robot platform itself doesn't interpretTwists correctly, more weird things can happen. Etc.Asked by gvdhoorn on 2022-10-05 05:20:30 UTC