robot bad move in navigation stack

asked 2015-12-20 04:50:49 -0500

M.Ahmed gravatar image

updated 2015-12-20 12:10:17 -0500

Akif gravatar image

hi i am following the book "Learning ROS for Robotics Programming - Second Edition" and in chapter 9 i make navigation stack.and send simple goal.the path planning is good but the robot don't follow the path.just move backward and some rotate.plz help me.this is my university project i need urgent help.

i also use skid steer driver.

Thanxx. the launch files are given below.


<?xml version="1.0"?>

<!-- Run the map server -->
<param name="/use_sim_time" value="true"/>
<node name="map_server" pkg="map_server" type="map_server" args="$(find se2)/maps/map.yaml" output="screen"/>

<include file="$(find amcl)/examples/amcl_diff.launch" />
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<rosparam file="$(find se2)/launch/costmap_common_params.yaml" command="load" ns="global_costmap" />
<rosparam file="$(find se2)/launch/costmap_common_params.yaml" command="load" ns="local_costmap" />
<rosparam file="$(find se2)/launch/local_costmap_params.yaml" command="load" />
<rosparam file="$(find se2)/launch/global_costmap_params.yaml" command="load" />
<rosparam file="$(find se2)/launch/base_local_planner_params.yaml" command="load" />


Configuration launch file

<?xml version="1.0"?>

    <param name="/use_sim_time" value="true" />

    <remap from="robot/laser/scan" to="/scan" />  
    <!-- start up wg world -->
    <include file="$(find gazebo_ros)/launch/willowgarage_world.launch">
    <arg name="model" default="$(find se2)/urdf/robot1_base_03.xacro"/>
    <param name="robot_description" command="$(find xacro)/ $(arg model)" />

    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
    <!-- start robot state publisher -->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" />

    <node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -z 0.1 -model robot_model" respawn="false" output="screen" />

    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find se2)/launch/navigation.rviz" />

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