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jackal_cartographer_navigation lunacy! robot goes INSANE when given 2D nav goal

asked 2018-08-07 22:44:57 -0500

asabet gravatar image

updated 2018-08-07 22:55:35 -0500

I'm using a 2d lidar with jackal_cartographer_navigation for building my map and navigating. Everything looks good in terms of mapping, but the jackal literally tries to kill me if I try to send it a simple 2D nav goal rviz. The issue is, when I tell it to go forwards, it goes backwards, so I have one of my frames misaligned. How can I troubleshoot this MADNESS?!

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answered 2018-08-08 19:11:18 -0500

stevejp gravatar image

Generic troubleshooting advice would be to simplify the system and then systematically add complexity when you're confident everything is working as intended. So in this case, I would start with the most simple navigation setup possible (no map, no laser, no cartographer, just one robot_localization EKF fusing wheel velocities and IMU orientation, and move_base navigation in the odom frame). This launch file looks like it's set up to do this.

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Asked: 2018-08-07 22:44:57 -0500

Seen: 130 times

Last updated: Aug 08 '18