Wrong Pose update while moving robot slowely in reverse direction using tele-operation
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 ?
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 is0.2
) so you have to wait that the robot as actually moved by20cm
before getting an update, you can lower this param to see if it changes something.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"
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 ?