Robot not navigating well

edit

I'm working on running a navigation robot from scratch so far I was able to do produce the map of the environment and load it to the map server and localise the robot. But now when I set the navigation goal for the robot it seems to wander here and there instead of reaching goal.

I use ROS kinetic in Ubuntu 16.4

Below is the link to video on how robot is behaving VIDEO

local_costmap_param

local_costmap:
  global_frame: odom
  robot_base_frame: base_link

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5  

  static_map: false  
  rolling_window: true
  width: 3
  height: 3
  resolution: 0.05

global_costmap_param

global_costmap:
  global_frame: map
  robot_base_frame: base_link

  update_frequency: 10.0
  publish_frequency: 10.0
  transform_tolerance: 0.5

  static_map: true

costmap_common_param

obstacle_range: 3.0
raytrace_range: 3.5

footprint: [[-0.105, -0.105], [-0.105, 0.105], [0.041, 0.105], [0.041, -0.105]]
#robot_radius: 0.105

inflation_radius: 1.0
cost_scaling_factor: 3.0

map_type: costmap
observation_sources: scan
scan: {sensor_frame: hokuyo_link, data_type: LaserScan, topic: scan, marking: true, clearing: true}

base_local_planner_param

TrajectoryPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 0.18
  min_vel_x: 0.08

  max_vel_theta:  1.0
  min_vel_theta: -1.0
  min_in_place_vel_theta: 1.0

  acc_lim_x: 1.0
  acc_lim_y: 0.0
  acc_lim_theta: 0.6

# Goal Tolerance Parameters
  xy_goal_tolerance: 0.10
  yaw_goal_tolerance: 0.05

# Differential-drive robot configuration
  holonomic_robot: false

# Forward Simulation Parameters
  sim_time: 0.8
  vx_samples: 18
  vtheta_samples: 20
  sim_granularity: 0.05

dwa_local_planner_param

DWAPlannerROS:

# Robot Configuration Parameters
  max_vel_x: 0.22
  min_vel_x: -0.22

  max_vel_y: 0.0
  min_vel_y: 0.0

# The velocity when robot is moving in a straight line
  max_vel_trans:  0.22
  min_vel_trans:  0.11

  max_vel_theta: 2.75
  min_vel_theta: 1.37

  acc_lim_x: 2.5
  acc_lim_y: 0.0
  acc_lim_theta: 3.2 

# Goal Tolerance Parametes
  xy_goal_tolerance: 0.05
  yaw_goal_tolerance: 0.17
  latch_xy_goal_tolerance: false

# Forward Simulation Parameters
  sim_time: 1.5
  vx_samples: 20
  vy_samples: 0
  vth_samples: 40
  controller_frequency: 10.0

# Trajectory Scoring Parameters
  path_distance_bias: 32.0
  goal_distance_bias: 20.0
  occdist_scale: 0.02
  forward_point_distance: 0.325
  stop_time_buffer: 0.2
  scaling_speed: 0.25
  max_scaling_factor: 0.2

# Oscillation Prevention Parameters
  oscillation_reset_dist: 0.05

# Debugging
  publish_traj_pc : true
  publish_cost_grid_pc: true

move_base_param

shutdown_costmaps: false
controller_frequency: 10.0
planner_patience: 5.0
controller_patience: 15.0
conservative_reset_dist: 3.0
planner_frequency: 5.0
oscillation_timeout: 10.0
oscillation_distance: 0.2

amcl

<launch>
  <!-- Arguments -->
  <arg name="scan_topic"     default="scan"/>
  <arg name="initial_pose_x" default="0.0"/>
  <arg name="initial_pose_y" default="0.0"/>
  <arg name="initial_pose_a" default="0.0"/>

  <!-- AMCL -->
  <node pkg="amcl" type="amcl" name="amcl">

    <param name="min_particles"             value="500"/>
    <param name="max_particles"             value="3000"/>
    <param name="kld_err"                   value="0.02"/>
    <param name="update_min_d"              value="0.20"/>
    <param name="update_min_a"              value="0.20"/>
    <param name="resample_interval"         value="1"/>
    <param name="transform_tolerance"       value="0.5"/>
    <param name="recovery_alpha_slow"       value="0.00"/>
    <param name="recovery_alpha_fast"       value="0.00"/>
    <param name="initial_pose_x"            value="$(arg initial_pose_x)"/>
    <param name="initial_pose_y"            value="$(arg initial_pose_y)"/>
    <param name="initial_pose_a"            value="$(arg initial_pose_a)"/>
    <param name="gui_publish_rate"          value="50.0"/>

    <remap from="scan"                      to="$(arg scan_topic)"/>
    <param name="laser_max_range"           value="3.5 ...