Use navigation to correct robot's path

asked 2017-01-25 13:44:43 -0600

senya gravatar image

Till now I was using Gazebo to simulation. Now I am trying to implement that on a real robot. I have been successful in doing so but there is one problem in following the path.

When the path is straight, the robot fails to follow a perfectly straight path (like it followed in Gazebo). This maybe due to limitations of odometer based speed control of motors.

So will the navigation stack correct the bot path by giving an alternate path or speed as a feedback if it finds out (by the encoder values that is computed and published as odom) that the robot is not following the correct path that it previously published?

So, does the navigation stack does that or is there any way to do it?

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