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What should I do to increase my navigation precision

asked 2021-11-02 05:17:32 -0500

BlueSkeptical gravatar image

Hi guys, I'm struggling to understand how I can increase the precision in reaching a goal position. I'm moving a MIR100 simulation with this package and I need a certain amount of precision in reaching a goal position. I've tried all can found online but probably I'm missing something...

I tried to increase the local costmap resolution with rqt_reconfigure and the MIR starts moving but, near the goal position, it gives me this error:

terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc

I tried using different primitive file, such as unicycle_highcost_2cm.mprim in the repo, but it gives me this error:

[ INFO] [1635846411.439455111, 1323.215000000]: Name is SBPLLatticePlanner
terminate called after throwing an instance of 'SBPL_Exception'
  what():  ERROR: failed to read in motion primitive file

even if, as someone wrote here, i set the global costmap resolutions to 0.02 and even if, in this issue here, my file doesn't start with a UTF-8 byte order mark. I miss the goal up to 20/30cm, usually 10cm almost every time. What am I missing?

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Goal precision is determined by the local planner parameters for example in DWA you can adjust the goal tolerance parameters which are yaw_goal_tolerance , xy_goal_tolerance. You can see their default values in the wiki and lower it if you want your robot to stop at the goal as close as possible

rappy gravatar image rappy  ( 2021-11-02 05:40:01 -0500 )edit

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answered 2021-11-02 08:01:29 -0500

Dragonslayer gravatar image

updated 2021-11-02 08:02:14 -0500

In the params of the local planners you linked

  • yaw_goal_tolerance: 0.03 #Means 0.03 radian
  • xy_goal_tolerance: 0.08 #Means 8 Centimeters

It seems your ca 10cm goal tolerance is expected. Be aware that for docking and other high precision positioning, many people use additional functionality. example roomba docking

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Asked: 2021-11-02 05:17:32 -0500

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Last updated: Nov 02 '21