Trouble with rover behavior using move_base

asked 2021-11-22 15:04:23 -0500

kiprock gravatar image

updated 2021-11-22 16:40:39 -0500

osilva gravatar image

Hello, my rover is not following the global path very well and always trying to take shortcuts, rather than follow the prescribed path. I have tried all manner of combinations of path_distance_bias, goal_distance_bias and occdist_scale.

Running rtab_map for localization and lidar for local costmap.

Here is a video: http://kiphaynes.com/LIL/Move_base_pr...

image description

Thanks in advance for your suggestions!

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Comments

A couple suggestions and forgive me if you already done it as I’m going with the details you posted:

  1. Check odometry. How accurate is it?
  2. Check the advanced rtab_map tutorial: http://wiki.ros.org/rtabmap_ros/Tutor...

Based on the video I think it has to do with features detection so you may also try to play with increasing the number of features detected as it seems not to make a proper corner.

osilva gravatar image osilva  ( 2021-11-22 16:40:04 -0500 )edit

Also there is a good forum for rtab_mapthat you may find more info: http://official-rtab-map-forum.206.s1...

osilva gravatar image osilva  ( 2021-11-22 16:48:12 -0500 )edit
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