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The issue was that I had an outdated config file for Navigation 2 which was missing some parameters (not 100% sure which ones).

After updating my nav2_params.yaml from the foxy branch navigation now succeeds. Logs were saying that the robot failed to make progress, so I'm thinking that the progress checker plugin was either not configured or the defaults were too aggressive for my robot, so it was failing to register the progress and kept restarting the navigation during rotation to match the angle.

As far as not quite reaching the goal before attempting to match the angle issue I think it was just the default xy_goal_tolerance parameter. It was configured to be 25cm, so I think as soon as robot reached the outer edge of that radius it was satisfied and started to match the angle, that's why it was never reaching the exact start of the arrow. After reducing tolerance to 10cm it's more accurate now.