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Turtlebot_navigation issue:local_map drifts after a long-distance movement.

asked 2018-03-26 20:57:40 -0500

LucYang gravatar image

updated 2018-03-26 22:03:15 -0500

I want to upload some pictures to show my problem, but I don't have enough points. Therefore, I can only explain it with my poor English. Sorry. I am using a turtlebot2 to do my experiments. It worked well for a long time. But this Monday, after I built a new map or maybe after I decrease the max_vel_x, I found it can not locate itself well any more. I usually start my turtlebot2 at the same position as the position that I start to gmapping. At first, the local_map can match the static map well. But if I send a goal that is a long-distance away, the local_map would drift. Then the local_map can not match the static map well with not only distance but also orientation. I have tried everthing I can think out to fix it, but none of them worked. Need help~~

The map is a big rectangle, about 6m*6m. I can upload now. image description image description

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It looks like your sensor can't see the walls all the way around. Have you recently increased the size of your map?

ahendrix gravatar image ahendrix  ( 2018-03-26 22:07:43 -0500 )edit

No,the map is the same as it was at last week and it worked well. This problem appeared just yesterday.

LucYang gravatar image LucYang  ( 2018-03-26 22:09:56 -0500 )edit

Can you repost the images as screenshots instead of pictures taken with a phone/camera?

jayess gravatar image jayess  ( 2018-03-26 22:48:20 -0500 )edit

what if you set the goal near your turtlebot?

pengjiawei gravatar image pengjiawei  ( 2018-03-28 03:33:17 -0500 )edit

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answered 2018-03-28 07:29:24 -0500

LucYang gravatar image

image description I did this and the turtlebot2 behaved better, but still not good enough.

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Please don't use an answer to provide more information about your question. This isn't a forum. Please update your question with this information instead.

jayess gravatar image jayess  ( 2018-07-28 11:39:59 -0500 )edit

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Asked: 2018-03-26 20:57:40 -0500

Seen: 208 times

Last updated: Mar 28 '18