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Turtlebot moving circles with map

asked 2017-10-09 12:17:23 -0500

Baumboon gravatar image

updated 2017-10-09 12:52:04 -0500

Hi guys ,

I try to move my turtlebot with a map. I finished my example where i give a point to my bot. After he got the point he moves to the point but he drive in circles. When i start the script two times he moves correctly most of the time.

Can somebody help me?

I use Ros Kinetic with Gazebo 7.0. First of all i start gazebo:

roslaunch turtlebot_gazebo turtlebot_world.launch

after this i load the map:

roslaunch turtlebot_gazebo amcl_demo.launch

After this i use a script to move to a point or a bunch of points with my robot. Sometimes the robot drives in the direction of the point but he circles around while he moves. He rotates around 360 degree drives a bit further then he stop and rotates again. Most of the time i need to restart the script and he drives straight to the point without any circles.

I used this script as a foundation for my purpose:

https://github.com/markwsilliman/turt...

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Please edit your question to provide more information. A video of the behavior would be preferable, as well as a full description of how to reproduce your problem. See http://wiki.ros.org/Support for guidelines on asking questions.

tfoote gravatar imagetfoote ( 2017-10-09 12:37:36 -0500 )edit

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answered 2017-10-09 13:17:27 -0500

tfoote gravatar image

This sounds like a common behavior if the robot gets close to the goal, but is just outside it's tolerance. So it drives in a small circle to try to get closer to the goal position than it's current pose.

There's a guide for tuning the navigation stack here with links to several other resources: http://wiki.ros.org/navigation/Tutori...

You probably want to slightly increase the tolerance for the goals so that the robot doesn't continue to hunt once it gets there.

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Okay , then i need to improve the navigation stack and optimize it. Thank u for your help.

Baumboon gravatar imageBaumboon ( 2017-10-11 08:19:48 -0500 )edit

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Asked: 2017-10-09 12:17:23 -0500

Seen: 346 times

Last updated: Oct 09 '17