Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Turtlebot3 doesn't move in a straight line while sending goals to Nav_stack!

asked 2022-04-25 09:48:54 -0500

Belghiti
50 ●5 ●7 ●12

Hi everyone! while using the code that sends goals to the navigation stack from this Link: https://wiki.ros.org/navigation/Tutor..., and using a simulated turtlebot3. Namely, the robot doesn't move in a straight line, it sometimes gets stuck and even stops before reaching its destination, although there is nothing where it could get stuck!. I've seen this happen using a real Turtlebot3, but I never thought it would happen in a simulation! i have thought about it a lot and don't know if it's because of the Odometry Wheels or the Lidar or the Recovery behavior...!! Any ideas!? I would greatly appreciate any possible explanations and maybe some solutions. Thanks in advance!

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2022-08-22 10:47:49 -0500

Belghiti
50 ●5 ●7 ●12

so hi again,

After trying to understand how odometry works and also going through many suggested solutions to improve wheel odometry on various forums, like the one from Sr. Robotics Engineer Achille Verheye in his excellent and detailed article [www.freedomrobotics.com/blog/tuning-o...]: “Deploying on Mars : rock solid odometry for wheeled robots", i decided that the appropriate way for my case would be to perform the tuning of some ROS parameters as suggested on Turtlebot Navigation Tuning Guide [ https://wiki.ros.org/navigation/Tutor... ], including robot acceleration, recovery behavior, goal tolerance parameters, the simulation time and above all the inflation radius and the cost scalling factor. The Results were 90% of the time satisfying and i could run the Tests i wanted to.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2022-04-25 09:48:54 -0500

Seen: 316 times

Last updated: Aug 22 '22

Turtlebot3 doesn't move in a straight line while sending goals to Nav_stack! edit

1 Answer

Question Tools

Stats

Related questions

Turtlebot3 doesn't move in a straight line while sending goals to Nav_stack!