Navigation Problem
Hello ROSers,
I have a custom robot on which I successfully run ROS Indigo. I built a map using gmapping here: http://i67.tinypic.com/20r31nb.png 
Afterthat I used AMCL for localization and saw that it successfully localizes itself on this map. everything perfect up to here! However, when I tried to use ROS Navigation package I faced some critical errors ! The map below shows the navigation path:
Upto WayPoint1 everything is good. But when I gave Waypoint2 (WP2) command on Rviz, the robot always makes some absurd movements as you can see above picture!
I use encoders in my custom robot's motors, so I have good velocity control mechanism for the robot. I think the problem is in navigation but can't decide in which part of navigation parameters I should concentrate. For many days I have been trying to change some navigation parameters to solve this problem costmap_local.yaml, costmap_global.yaml, costmap_common.yaml and move_base.yaml. No change! :(
Any idea or insight for the problem solution please? Regards & Thanks
can you create a video of it?
Dont have the video but I cansay that when I gave WP2 as target,it draws a nav. path very near to obstacle in middle and it always tries to pass too near to obstacle and it cant achieve in first try: turns back, tries again,.. turn bck again, etc...It at least makes 5 or more trials to pass obstcle
Also sometimes it stucks after some 10 or more trials !