Wrong Pose update while moving robot slowely in reverse direction using tele-operation

asked 2019-12-04 02:58:36 -0600

Dear All,

I am using ROS Kinetic version.

I am trying to move robot using teleop_twist_keyboard pkg on /cmd_vel topic. I am using amcl pkg to monitor robot pose. When i give -0.25m/s linear velocity to move robot linear direction , robot pose is updated properly but when i give -0.1m/s linear velocity at that time wrong ( negative )robot position is updated and also map is getting shifted.

So how to resolved this problem at lower linear velocity ?

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Comments

wrong ( negative )robot position is updated

Can you be more specific ? Also, is it the same with positive velocities ?

I would guess that you have the param update_min_d at the default value (wich is 0.2) so you have to wait that the robot as actually moved by 20cm before getting an update, you can lower this param to see if it changes something.

Delb gravatar imageDelb ( 2019-12-04 05:24:54 -0600 )edit

Hi Delbaere,

Ok so when i give 0.1m/s linear velocity at that time it move perfect toward positive X direction and update AMCL_POSE correctly.But when i give -0.1m/s linear speed robot moving reverse correctly but amcl pose not update properly it update opposite direction in rviz. means if robot goes +X direction then amcl pose was updating -X direction vice-versa. so this is happening only while give negative cmd_vel. in positive cmd_vel it works perfect.

While i increase the negative velocity ex. -0.2 m/s at that time again amcl pose update correctly even though it is negative velocity. so this problem occurred only while negative velocity which is <-0.2 m/s.

I have given below parameter in amcl node. param name="update_min_d" value="0.005" param name="update_min_a" value="0.001"

Bhavesh D gravatar imageBhavesh D ( 2019-12-05 01:36:10 -0600 )edit

Is your robot placed in a corridor ? I mean does your robot detects lots of obstacles at different distances when moving backwards, at least direclty behind it and not only on the sides ?

Delb gravatar imageDelb ( 2019-12-06 02:31:54 -0600 )edit