Optimize Navigation Stack / Turtlebot drives circles

asked 2018-01-26 06:45:12 -0600

Baumboon gravatar image

Hello Guys,

i am using Ros Kinetic on a Ubuntu 16.04 PC. I using Turtlebot package for simulation in Gazebo. A few weeks a go a posted a similar question with rtab map without an answer so i am back on the default navigation paket.

I created a map with gmapping and now i can start the map with :

roslaunch turtlebot_gazebo amcl_demo.launch map_file:=/home/user/turtlebot_custom_maps/tutorial.yaml

This works fine i see my robot in rviz and i could drive to specific point.

My problem now is that the robot drives in circles to reach a specific point. Even is there is no obstacle near him. So i am new in the planner configuration could u give me a tip which parameter i need to change that the robot don´t drive in circles to a point?

Here is my code for reaching a point:

class GoToPose():
    def __init__(self):

        self.goal_sent = False

    # What to do if shut down (e.g. Ctrl-C or failure)

    # Tell the action client that we want to spin a thread by default
    self.move_base = actionlib.SimpleActionClient("move_base", MoveBaseAction)
    rospy.loginfo("Wait for the action server to come up")

    # Allow up to 5 seconds for the action server to come up

    def goto(self, pos, quat):

        # Send a goal
        self.goal_sent = True
    goal = MoveBaseGoal()
    goal.target_pose.header.frame_id = 'map'
    goal.target_pose.header.stamp = rospy.Time.now()
        goal.target_pose.pose = Pose(Point(pos['x'], pos['y'], 0.000),
                                     Quaternion(quat['r1'], quat['r2'], quat['r3'], quat['r4']))

    # Start moving

    # Allow TurtleBot up to 60 seconds to complete task
    success = self.move_base.wait_for_result(rospy.Duration(80)) 

        state = self.move_base.get_state()
        result = False

        if success and state == GoalStatus.SUCCEEDED:
            # We made it!
            result = True

        self.goal_sent = False
        return result

    def shutdown(self):
        if self.goal_sent:

if __name__ == '__main__':
        rospy.init_node('nav_test', anonymous=False)
        navigator = GoToPose()

        # Customize the following values so they are appropriate for your location
        position = {'x': 1.89, 'y' : 1.21}
        quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}

        rospy.loginfo("Go to (%s, %s) pose", position['x'], position['y'])
        success = navigator.goto(position, quaternion)

        if success:
            rospy.loginfo("Hooray, reached the desired pose")
        position = {'x': -2.76, 'y' : 2.68}
            quaternion = {'r1' : 0.000, 'r2' : 0.000, 'r3' : 0.000, 'r4' : 1.000}
        rospy.loginfo("Go to (%s, %s) pose", position['x'], position['y'])
            success2 = navigator.goto(position, quaternion)
            rospy.loginfo("The base failed to reach the desired pose")

        # Sleep to give the last log messages time to be sent

    except rospy.ROSInterruptException:
        rospy.loginfo("Ctrl-C caught. Quitting")

In the code i let him drive to 2 points this works after some time he reaches the points but like i described the way to the point is not very straight it more like the robot rotates ... (more)

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Can you please post a video showing the behavior of the robot. Also, please fix the indenting of your code. As it is, it won't run because of mismatched indentation levels.

jayess gravatar image jayess  ( 2018-01-27 11:56:12 -0600 )edit