Why does the Turtlebot 2 rotates toward the desired goal?

asked 2018-10-19 15:47:31 -0600

lxu3nol gravatar image

I am currently working on the waypoint following of Turtlebot 2 in Gazebo. I am running Ubuntu 14.04 LTS with kernel 4.4.0-135-generic and ROS indigo 1.11.21. The simulated Turtlebot, instead of moving directly, it rotates toward the goal and eventually, it will reach the desired goal. I followed some advice to change the parameter such as sim_tim and goal_tolerance in dwa_local_planner_params.yaml but it does not affect the result. May I know why does the rotation happen and is there any other approach to make a smoother trajectory? Thank you.

I used the python code in the following link, http://www.hotblackrobotics.com/en/bl... with this launch file, https://github.com/FiorellaSibona/tur... .

The following is the steps of launching the code: roslaunch turtlebot_gazebo turtlebot_world.launch -> roslaunch turtlebot_gazebo amcl_demo.launch -> roslaunch turtlebot_rviz_launchers view_navigation.launch -> roslaunch simple_navigation_goals movebase_seq.launch

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Comments

Not entirely clear what you're saying. Can you either post a picture or give a detailed description of the observed behavior vs. the expected behavior?

stevejp gravatar imagestevejp ( 2018-10-25 19:26:38 -0600 )edit

Hi stevejp, the Turtlebot moves toward the goal smoothly if the goal I chose is located in front of it. The rotations happen when I chose the goal behind of the Turtlebot.

The following video shows the abnormal behavior of my Turtlebot in simulation, https://www.youtube.com/watch?v=qXkP-...

lxu3nol gravatar imagelxu3nol ( 2018-11-06 16:31:05 -0600 )edit