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Precision navigation

asked 2017-07-02 21:41:10 -0600

Nelson Wu gravatar image

updated 2017-07-02 21:41:46 -0600

Hi, I have build Robot navigation using ROS navigation package, But found it's accuracy error about 10 cm. If robot reach the target point nearby using ROS navigation package, How to do more precise navigation using 2D Laser for Precision navigation , Does anyone know have ros packages or method to do?

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Is there any suggestion about this topic? Yes i decrease this params. It give me some improvement. What is the other solutions

bfdmetu gravatar image bfdmetu  ( 2021-02-05 01:30:02 -0600 )edit

Please don't post comments as new answers. Use the 'add a comment' button for that.

skpro19 gravatar image skpro19  ( 2021-02-07 13:36:20 -0600 )edit

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answered 2017-07-12 02:16:14 -0600

Procópio gravatar image

You can improve the precision by decreasing the resolution parameter in your costmap config, and reducing the xy_goal_tolerance parameter in your local planner.

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Why would that work?

skpro19 gravatar image skpro19  ( 2021-02-07 13:36:46 -0600 )edit

xy_goal_tolerance means how close to the goal you want to be. If you use 1m, for example, you will stop navigating once you are inside this threshold. resolution decrease means you will have smaller cells in your occupancy grid. this will also means you can get a more realistic position of obstacles and, therefore, navigate more precisely around then (narrow passages, get closer to obstacles, etc.)

Procópio gravatar image Procópio  ( 2021-02-08 09:10:55 -0600 )edit

Makes sense. Thanks!

skpro19 gravatar image skpro19  ( 2021-02-08 13:09:21 -0600 )edit

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Asked: 2017-07-02 21:41:10 -0600

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Last updated: Feb 05 '21