local path wont follow global path ROS

asked 2017-12-20 09:24:15 -0500

Vladith gravatar image

Hello everyone,

last week i managed to localize my robot in my self created map. After localization im trying to use move base and the navigation stack. At the moment my robot can compute a global map path but the local path is very noisy and is not following the global path. My setup: 4 Wheel drive robot Im publishing /map with mapserver im using laser_scan_matcher and amcl for map->odom->base_footprint->baselink->laser (rplidar) In addition im trying to use an Imu. My Arduino programm publishes Imu/data_raw & with imu filter Imu/data I took the Pose information from /amcl/pose topic and the linear_acceleration.x/y and angular.z from Imu and publish them together to /odom topic. So my /odom takes information from: pose = amcl/pose twist = Imu/data

With my described setup my local path is appearing and dissapearing over time and it isnt following my global path which is pretty fine.

Thank you!

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