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turtlebot position fluctuates

asked 2015-02-25 17:53:06 -0600

Behnam Asadi gravatar image

Dear All, Please have look on this video: http://youtu.be/MiTcy0rHY78

I'm running turtlebot gazebo simulator, but as you see the pose of robot has lots of error and fluctuates I have run the following:

1)roslaunch turtlebot_gazebo turtlebot_world.launch

2)roslaunch turtlebot_gazebo gmapping_demo.launch

3)roslaunch turtlebot_rviz_launchers view_navigation.launch

4)roslaunch turtlebot_gazebo amcl_demo.launch

The position of the robot in gazebo is fixed, but the localized position in rviz is fluctuating between several points. what should I change to make the position of the robot stable? Many thanks and regards.

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answered 2015-02-25 18:30:27 -0600

tfoote gravatar image

You are running multiple localization demos simultaneously. AMCL and gmapping should not be used simultaneously.

The oscillation you are seeing is a race condition between the two publishing their computed results.

It looks like you're following this tutorial

Make sure to follow the instructions "To be sure that all will run as expected, kill all you launched in the previous section"

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answered 2015-02-26 03:43:03 -0600

Behnam Asadi gravatar image

Dear tfoote Thanks for your quick reply, the point that you mentioned solved the problem, but now when I set a 2D pose, the robot doesn't follow a straight line and as you can see in the video it starts rotating around itself (a very jerky movement instead of a smooth one) till it approach the goal. http://youtu.be/oVMhrz2vrUM

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@Behnam Asadi Please ask this as a full new question instead of as an "Answer" to your previous question. And make sure to document everything you're doing to get setup as if people have not read this question as it may be someone else answering your question.

tfoote gravatar imagetfoote ( 2015-02-26 12:59:07 -0600 )edit

Am getting the same problem can someone help please

pyth gravatar imagepyth ( 2017-12-10 07:12:50 -0600 )edit

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Asked: 2015-02-25 17:53:06 -0600

Seen: 273 times

Last updated: Feb 25 '15