Wrong localization using AMCL and move_base

asked 2016-02-24 06:19:31 -0600

DanThe gravatar image

updated 2016-02-24 08:05:06 -0600

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?


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Picture is not accessible

yasagitov gravatar image yasagitov  ( 2016-02-24 07:35:17 -0600 )edit

Edited the link. It should work now. Thanks!

DanThe gravatar image DanThe  ( 2016-02-24 08:08:06 -0600 )edit

Are you sure the robot has reached the goal instead of failure?

jssfy gravatar image jssfy  ( 2016-03-02 03:17:35 -0600 )edit

It does not give any indication of failure because there are no errors or warnings issued by move_base. It seems that the robot thinks it has arrived to the goal when in fact it is around 1.6m away. I am thinking that it is a localization issue. Any guidance?

DanThe gravatar image DanThe  ( 2016-03-02 06:32:46 -0600 )edit

Where is local planner's parameters?

Orhan gravatar image Orhan  ( 2016-03-30 06:03:17 -0600 )edit