Hi,

Hopefully someone can shed some light on this. I've recently done a massive upgrade from Kinetic to Noetic (yes I know about time!) and the robot is now having problems/fussing when it comes to go through a doorway. Lots of cost clearing, recovery modes etc. Before it would just go straight through no issues (After I'd tuned the local and global cost map parameters etc).

The robot's hardware is identical as are all the YAML files with respective parameters for move_base/the navigation stack remain the same. So something has changes (which isn't surprising I know) which now makes it jitter around. As yet I can't see/figure out what.

I've put a log of the startup parameter here - so far as I can tell, given the parameters, the behavior should be the same:

https://www.dropbox.com/s/10997q4w7bzj2ut/ROS%20Mapping%20issues%20analysis.xlsx?dl=0

Any input would be great.

Many thanks

Mark