nav2 navigate through poses mode often fails
Hello,
I am experimenting with nav2 and turtlebot, I am using the default tutorial with default nav2params.yaml file https://navigation.ros.org/gettingstarted/index.html.
Steps to reproduce:
source /opt/ros/humble/setup.bash
export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False
Navigating to one goal works fine, however, when navigation through multiple poses it often get's bad.
Robot gets stuck and tries recoveries until it aborts the route. Here is a gif of the problem: https://gifyu.com/image/SQDQq
What is going wrong in the controller(DWBLocalPlanner) ?
Thank you !
Asked by cocodmdr on 2023-06-30 11:38:43 UTC
Comments
I can't speculate as to changes made if you've retuned DWB
Asked by stevemacenski on 2023-06-30 13:26:53 UTC
I use the stock nav2_params.yaml without any tuning to the DWB, however I noticed the same behavior with other controller. The interesting part is that when you give only 1 nav2 goal, it works fine anywhere on the map. With multiple goals, when using "wayoint following" it works like a charm. But it goes often wrong when using "navigate through poses".
Asked by cocodmdr on 2023-07-03 02:42:29 UTC