Turtlebot doesn't move in a straight line

asked 2016-12-01 07:29:22 -0500

Elektrikeren gravatar image

I have some C++ code in which i give the turtlebot a coordinate using:

goal.target_pose.pose.position.x = mypoint.point.x

goal.target_pose.pose.position.y = mypoint.point.y

The robot moves from one point to another. However only rarely does it do this in a straight line. It seems as though the turtlebot starts moving before it is done rotating. There are not any obstacles inbetween the points. It is able to get to every point, but it tends to move in small arc between them.

Any ideas on how to force the robot to move in a straight line, when there are no obstacles in its way?

I use turtlebot_bringup minimal.launch and turtlebot_navigation gmapping_demo.launch.

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Comments

Hi! I'm facing the same issue. Any luck?

felipeduque gravatar image felipeduque  ( 2020-05-04 07:57:08 -0500 )edit

We tried our program on another TurtleBot where it worked flawlessly. It was a school project, and they had plenty excess TurtleBots, so we swapped it out. However, we never found the problem.

Elektrikeren gravatar image Elektrikeren  ( 2020-05-04 08:02:49 -0500 )edit