What should I do to increase my navigation precision
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 https://github.com/mintar/mir_robot 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?
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