A more risk taking move_base

asked 2016-03-08 17:56:14 -0500

arttp2 gravatar image

I am using turtlebot gazebo simulation. I launched the turtlebot_world, demo_amcl and demo_gmapping launch files. I am sending goal positions to the turtlebot using a custom node that sends the turtlebot 1 metre forward. It is the most basic move_base client node that is found in tutorials available on the web.

The difficulty I find in using that is that less than 50 % of the time does it successfully send the turtlebot to the desired location. And it does that swirling on its axis trying to map its environment This happens whether I use the goal_position_node or the 2DNav Goal Tool in Rviz.

Is there a way to make the current move_base functionality better by a simple fine-tuning of parameters or there already exists a much more risk-taking alternative to move_base. Otherwise would using a custom node which publishes to cmd_vel using laser_scan data be a better option.

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I also had a lot of problems to set a correct path following with move_base. Maybe you can try to tune the following parameters in your local_planner : pdist_scale, gdist_scale, occdist_scale

F.Brosseau gravatar image F.Brosseau  ( 2016-03-09 01:59:19 -0500 )edit