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Why does my robot rotates to the left even when the goal is in its right?

asked 2014-08-10 07:02:57 -0500

AmiraJr gravatar image

Hello,

I have a non holonomic robot, "Seekur Jr." I set up the navigation stack, and I am using TrajectoryPlannerROS as a base local planner, with DWA set to true.

The path planning and obstacle avoidance works just fine , but when it moves the robot shows an incorrect behavior: When I set the goal to the right of the robot, it first makes a full turn to the left and then starts moving towards the goal. However when I set the goal to the left or in front of it, it goes directly there. So it seems the robot always needs to make a left turn first.

I debugged every part of the project(acml, odom,transformation) and the error doesn't seem to be related to them. I also checked all the parameters and matched them to the default parameters.

I have started to tune the parameters and I believe the error is caused by them however I am not sure which parameter to adjust. I have already followed a tuning guide and used all the default parameters.

I also tried all the solutions on the internet but non worked or solved my problem.

Please guide me on this issue. I have already spent close to two months trying to figure it out.

I'd be glad and thankful to your suggestions.

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Which ROS version are you using? With the turtlebot indigo code this doesn't happen anymore, but I have no hydro installed, so I cannot check.

jorge gravatar image jorge  ( 2014-08-11 07:30:55 -0500 )edit

@jorge That was the problem , I had to set the min_vel_theta to -1.0. Thank you so much, you saved the project

AmiraJr gravatar image AmiraJr  ( 2014-08-12 01:41:34 -0500 )edit

Cool. I make an answer so this can be useful for others

jorge gravatar image jorge  ( 2014-08-12 02:08:09 -0500 )edit

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answered 2014-08-11 07:33:07 -0500

jorge gravatar image

I remember now that in older navistack configurations there was a problem with min_vel_theta and max_vel_theta parameters, where the former must be negative. Type rosparam get /move_base/TrajectoryPlannerROS/min_vel_theta to ensure that's not your problem.

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Asked: 2014-08-10 07:02:57 -0500

Seen: 477 times

Last updated: Aug 10 '14