Ros Navigation assistance
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: https://www.youtube.com/watch?v=Fd2K2...
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:
https://drive.google.com/open?id=1_fC...
Here are some pictures representing the drift:
https://drive.google.com/open?id=0B6G... https://drive.google.com/open?id=0B6G...
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.
Can you please post your data somewhere that doesn't require you to sign in to see it? Thanks.
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.
Looks like the video is unavailable
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?
I can open the YouTube video. The thumbnail does not show but the video still runs.
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.
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.
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.