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Did you try setting latch_xy_goal_tolerance to true?

~<name>/latch_xy_goal_tolerance (bool, default: false)
If goal tolerance is latched, if the robot ever reaches the goal xy location it will simply rotate in place, even if it ends up outside the goal tolerance while it is doing so. - New in navigation 1.3.1

Did you try setting latch_xy_goal_tolerance to true?

~<name>/latch_xy_goal_tolerance (bool, default: false)
If goal tolerance is latched, if the robot ever reaches the goal xy location it will simply rotate in place, even if it ends up outside the goal tolerance while it is doing so. - New in navigation 1.3.1

If the localization is unstable around the goal point, you might get this kind of rotations.