ROS Navigation Problem - Robot turns around in circles

asked 2015-11-09 12:08:54 -0500

Twista3579 gravatar image

updated 2015-11-09 12:12:12 -0500


I have a custom bot with Ros-Navigation-Stack on a Raspberry Pi. Laserscanner is Hokuyo UTM-30LX-EW. The Problem is that the robot moves straight out, and then turns around in circles until it arrives the goal.

All Data (Odom, Scanner etc) seems to be okay.

Here are rviz screenshots:

Short routes (Goals) moves the robot without any problems.

Here are my Config-Files


max_vel_x: 0.2
min_vel_x: 0.1
max_vel_theta: 0.2
min_in_place_rotational_vel: 0.2

acc_lim_theta: 0.2
acc_lim_x: 0.2
acc_lim_y: 0.2

yaw_goal_tolerance: 0.05
xy_goal_tolerance: 0.1
latch_xy_goal_tolerance: true

#controller_frequency: 2.0
holonomic_robot: false
meter_scoring: true


obstacle_range: 0.8
raytrace_range: 1.2
footprint: [ [0.2, 0.2], [-0.2, 0.2], [-0.2, -0.2], [0.2, -0.2] ]

inflation_radius: 0.15
transform_tolerance: 1.0

observation_sources: laser_scan_sensor #point_cloud_sensor

laser_scan_sensor: {data_type: LaserScan,
                sensor_frame: base_laser,
                expected_update_rate: 3.0,
                topic: scan,
                marking: true,
                clearing: true}

#point_cloud_sensor: {sensor_frame: frame_name, data_type: PointCloud, topic: topic_name, marking: true, clearing:         true}


  global_frame: /map
  robot_base_frame: base_link
  update_frequency: 0.25
  publish_frequency: 0.5
  static_map: true


  global_frame: odom
  robot_base_frame: base_link
  update_frequency: 0.22
  publish_frequency: 0.5
  static_map: false
  rolling_window: true
  width: 5.0
  height: 5.0
  resolution: 0.025

Can anyone help me with my problem?

Thanks in advance for your answers


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From the screenshot there is clearly something wrong with your TF tree, why your Odom and base_link frames are apart? I guess they should have the same origins.

mohsen1989m gravatar image mohsen1989m  ( 2015-11-11 09:40:46 -0500 )edit