navigation stack problem in real robot

asked 2017-11-19 12:08:16 -0500

marawy_alsakaf gravatar image

updated 2017-11-19 12:15:55 -0500

Hello all

My team's project is a mobile robot with ROS ( using navigation stack)

we implement the hardware, test it and it works well.

we test it with move_base we select a goal. getting a path but the movement of the motors was not stable. it doesn't move in the map and in the reality it tries to turn the motors left and right and the straight move is not continuous but like pulses. so we didn't get a movement on the path specified. the RQT_graph, frames and robot photos are attached

thanks for help

RVIZ mobile_robot rqt_graph frames

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It doesn't look like your arduino isn't publishing odometry messages. How are you providing position feedback to tell move_base where the robot is?

ahendrix gravatar image ahendrix  ( 2017-11-19 15:48:18 -0500 )edit

What does happen when you manually tell your robot to move forward? e.g.

rostopic pub -1 cmd_vel geometry_msgs/Twist '[0.2, 0, 0]' '[0, 0, 0.0]'
Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-11-20 01:21:00 -0500 )edit

@Humpelstilzchen when i test robot with tele-operate by keyboard (this node : $rosrun teleop_twist_keyboard it works well

marawy_alsakaf gravatar image marawy_alsakaf  ( 2017-11-20 01:27:02 -0500 )edit

Check the odometry, see the navigation troubleshooting guide

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-11-20 01:41:17 -0500 )edit