Ros Navigation assistance

asked 2017-09-14 10:47:17 -0500

mewescott gravatar image

updated 2017-09-15 16:27:48 -0500

I am trying to figure out why my Clearpath Ridgeback makes a complete revolution when trying to lock in on some of my locations. It seems to happen at the ones that are furthest from my starting point or origin location. I have also noticed that the localization drifts off as the robot sits in location.

Here is a video of the issue:

Here is a tuning spreadsheet that I made up the current values are in the Original value column unless column. If I changed them they are in the TEST 1 or TEST 2 column:

Here are some pictures representing the drift:

The first picture is after setting the Navigation estimate and turning it 360 to tune it in. the second is after it sits for about 2 minutes.

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Can you please post your data somewhere that doesn't require you to sign in to see it? Thanks.

jayess gravatar image jayess  ( 2017-09-14 17:40:41 -0500 )edit

I replaced the video link with a Youtube video. I can not seem to attach a excel file to replace the google sheets link though.

mewescott gravatar image mewescott  ( 2017-09-15 16:28:36 -0500 )edit

Looks like the video is unavailable

jayess gravatar image jayess  ( 2017-09-15 16:43:38 -0500 )edit

Can you also confirm that this rotation occurs when the target is set directly behind the Ridgeback? Does this occur if the target is set along a trajectory starting from the front of the Ridgeback?

surfertas gravatar image surfertas  ( 2017-09-16 22:23:52 -0500 )edit

I can open the YouTube video. The thumbnail does not show but the video still runs.

mewescott gravatar image mewescott  ( 2017-09-18 08:55:51 -0500 )edit

I do not have a lot of room behind the robot when the robots start from its normal position in the room. From what I can tell it has no issues when given a navigation point behind it. It seems to start having issues when given points over 10 meters away from the starting point.

mewescott gravatar image mewescott  ( 2017-09-18 08:57:11 -0500 )edit

The far points are in another room from the router but I do have open doors between them. The nav stack is running on the robot and it is ROS master so I wouldn't think a week Wifi signal would cause this.

mewescott gravatar image mewescott  ( 2017-09-18 08:59:07 -0500 )edit

Looks like my question is going unanswered like so many other posts on this forum. I need some help here. I have a demo on Friday and I am lost on how to fix the issue.

mewescott gravatar image mewescott  ( 2017-09-19 22:23:55 -0500 )edit