Kobuki base - Jerky move with Nav goal (move_base)

edit

Hello experts,

I had set up a Turtlebot 2 Kobuki base with ROS indigo Hokuyo lidar, Navigation stack and Gmapping n produce a map from the small area that im working in... all works perfectly and the map is totally consistent, when i move the robot around the room with the Keyop (teleop) but when it comes to publishing a navigation goal or Twist command i have a problem;

1. i wrote a simple node to publish Twist messages to my Kobuki base with no reaction from the robot until i found out that for the Twist cmds to work with my kobuki I have to send them to /mobile_base/commands/velocity instead of /cmd_vel or do a little remapping for these topics in Kobuki base lauchfiles. long story short, if i dont remap; standard Twist msg dont work, e.g: setting a nav_goal in Rviz for move_base gets no reaction from the robot, etc. but when i remap /cmd_vel to the other topic and then send a goal, my robot acts weird and jumps n snaps (jerky moves) and doesnt seem to stop until i force "ctrl-c" or turn it off. i have no idea what might be problem and found no useful resource on this matter... has anyone faced a similar problem with Kobuki mobile base or have any ideas?

• ps: tried mapping /mobile_base/commands/velocity to both cmd_vel and cmd_vel_mux and outcome is the same jumpy and sudden moves.

please do ask if u need me to elaborate or send config files.

Thanks!