The global path gradually oscillates
Hello,
I am currently developing an autonomous robot using move_base.
A strange thing happened the other day, so let me ask you a question.
Until then, my robot was running smoothly.
It generated a straight path to the goal I set, and had no problem estimating its own position.
One day, when I ran the robot in the same way, it started to shake from side to side.
The shaking became larger and larger, and it seemed to be oscillating.
When I checked the bag file, I found that the global path was oscillating left and right like the amplitude of a sin function, and as a result of following the path, the robot ran oscillating left and right.
I do not know the cause of the oscillation.
The aisle was very wide and there was no obstacle between the robot and the goal.
There was a wall some meters away from the robot, and the self-position estimation seemed to be working.
I have come to understand that this phenomenon only happens in certain areas, but I don't know the difference between the areas that don't shake at all.
I tried navfn and global_planner for global planner, but both of them caused this problem.
Does anyone have any hints for me?
Thanks in advance.