long range localisation drifts off

Hello, I'm running the navigation stack on my turtlebot3 and everything seems to be fine when placing a goal about 5 meters away, but once the goal is about 15m away the localisation of the robot drifts off a lot. After about 10m the scan data does not match the recorded map anymore. The robot thinks it is at the goal (visible in rviz), but in reality is off about 1.5m. I'm using the movebase TEB local planner with the respective tf localisation, and also an own DRL based one that uses amclpose as it's localisation.

Am I doing something wrong, or can I fix this somehow?

Asked by sudo-Boris on 2021-10-21 03:03:49 UTC

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Answers

There are many factors that could cause drifting, the further the distance error accumulates and there will be a discrepancy between the actual position and the position the robot thinks is located.

Things to consider are your odometry, costmap and planner parameters:

There is a good guide: https://kaiyuzheng.me/documents/navguide.pdf

And more information: http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide

Asked by osilva on 2021-10-21 09:06:27 UTC

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Thanks, will look into it!

Asked by sudo-Boris on 2021-10-21 09:16:31 UTC