Problems with robot localization and navigation

I am attempting to perform navigation with a LiDAR on my robot. Once I make a map with hector slam and launch my navigation files the robot cannot localize itself and the cost maps do not update correctly. Once I publish a nav goal the robot will just smash into anything and make erratic motions until it enters recovery. I have tested everything in gazebo and nothing went wrong only on the real robot.

I have tried amcl and als localization packages.

Any suggestions would help.

Asked by Healthbot on 2023-07-06 19:08:03 UTC

Comments

Answers

If you can do the 2D mapping, the tf of your basement and lidar can be assumed correct.

Suggest that

Using the tool bar on the RVIZ to set up the initial location.
Visualize your global and local cost map.
Figure out that the erratic motion is caused by which map or even both.

Asked by MaxHuang on 2023-07-10 03:22:26 UTC