Fluid navigation with pioneer 3DX

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Hi everyone,

Arthur (a mate) and me are working on a pioneer 3DX and we try to correctly setup the navigation stack. We followed the tutorial Setup and Configuration of the Navigation Stack on a Robot (great tutorial !) and we have a first working configuration ! So we tried it with manuals goals (Rviz) and all is done. Our next step now is to implement our exploration node. So we generate a goal behind the door (cf picture) but our robot stops its cmd_vel before access to the corridor.

We have some ideas where the problem comes from :

• Configuration of navigation node, particularly the base_local_planner
• Maybe the trajectory computation
• anything else ..

Do you have any proposal to fix our problem ?

Thank you in advance. P.