Navigation stack not going straight
Hello,
I previously posted about my robot rotating in place but that has been solved as it is due to the map not being aligned.
However, the robot now turns left and right towards the set goal instead of going straight.
Have taken advice on previous post to tweak parameters like base_local_planner_params.yaml
and both local and global costmap param but issue persist. Is there any possible solution to this and please let me know what information would be informative and I will update ASAP.
Thank you.
Info:
- followed: https://automaticaddison.com/how-to-s... (have went through his tutorial prior to this link as well and there are no issue)
- SBC- Odroid C4
- RPLiDAR a1m8
- MCU - Arduino Uno
- motor driver l298n
- bno055 imu sensor
- pololu magnetic quad encoder
Github: https://github.com/roomtempiq/Odroid_bot
Thank you very much.
I have added my github repository for this project as suggested by another user.
The robot when met with an obstacle, it is unable to change its trajectory and rotate in place. This eventually leads to the map and laser scan misaligned. Is this possibly still base_loacal_planner (for not going straight and unable to change planned path with obstacle) and amcl (laser scan) issue?
Any help even a comment on possible issue is greatly appreciated. Thank you.
will replacing base local planner with dwa planner work?