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Navigation: Robot cannnot reach goal

asked 2021-09-15 04:19:33 -0600

alejandrolri gravatar image

updated 2021-09-15 15:14:30 -0600

Mike Scheutzow gravatar image

Hello everyone, I'm using navigation stack on a turtlebot-based robot. When launching move_base.launch, I can send 2d nav goal in Rviz and robot cannot find its way to the goal, it just makes small movements. It only reaches it when it is a orientation change but not position one. I looked for errors with roswtf and I get:

ERROR The following nodes should be connected but aren't: * /move_base->/move_base (/move_base/global_costmap/footprint) * /move_base->/move_base (/move_base/local_costmap/footprint)

How can I fix it?

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Typing turtlebot footprint into the search bar at the top of this page gets 259 hits. Please review some of those existing answers. If you figure it out, and it's different from what @osilva said, you can help out by answering your own question.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2021-09-15 15:18:57 -0600 )edit

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answered 2021-09-20 05:55:28 -0600

alejandrolri gravatar image

Thank you for your help. There wasn't any problem with topics. Tuning navigation parameters solved my issue.

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Glad you found a solution

osilva gravatar image osilva  ( 2021-09-20 06:00:33 -0600 )edit

answered 2021-09-15 11:50:33 -0600

I suggest you look at this thread:

Looks it may be caused by either your odometer not reset or sending multiple /cmd_vel messages. So one way to dig deeper is to take a look at rostopic list

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Asked: 2021-09-15 04:19:33 -0600

Seen: 46 times

Last updated: Sep 20 '21