How to make robot closer to the wall when navigating?
I have disable the inflation layer and set all values of footprint to 0.01( well, i know it's unsafe), but the robot is still 50cm away from the wall otherwise it will tell me:
possible oscillation (of the robot or its local plan) detected. Activating recovery strategy (prefer current turning direction during optimization).
trajectory is not feasible
update:
I want my robot to get closer to the wall,but navigation (2d goal rviz)don't work.
What can i do if the distance between robot and wall should be less than 20cm?
I don't understand from your question what circumstances are causing your error. Is it from changing values to get the robot closer to walls? If it was error-free before, start by explaining that setup. Also, if you haven't come across them, here are some good resource for tuning navigation: Navigation Tutorials, Kaiyu Zheng's tuning guide