Hi all,

I am currently trying to set up the robot to navigate a known map using move_base. The global and local planners are set as follows:

<arg name="base_global_planner" default="navfn/NavfnROS"/>  
<arg name="base_local_planner" default="base_local_planner/TrajectoryPlannerROS"/>

The start pose of the robot is determined using amcl. However, there is an error in the localization result given by amcl.

Then, I correct the robot's localization using the '2D pose estimate' function on RVIZ. However, when I give a goal to the robot, the robot thinks that it arrived at the goal when in fact it will be around 1.6m away from the goal.

Here is a link with all the pictures mentioned. In the link there is also a picture of the actual environment of the robot

Is there any way to solve this?

Thanks