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ROS Navigation Stack laser drift

asked 2022-06-29 12:09:38 -0500

Os7 gravatar image

Hello all . I have a question, when i launch the navigation stack on a real robot and give a pose for the robot everything is set right but the map drifts a little bit at the start of the movement, and sometimes the laser scan drifts big time and a miss match happen with the real map when the robot rotates like giving the robot a goal while giving a pose of 180 degrees from the last pose, anyway to solve this, is it an odometery issue or CPU issue as we are using raspberry pi 4 and Arduino Mega and the the map update sometimes takes time or amcl and parameters issue ? One more question what is the maximum speed that is compatible with ros navigation as i feel the robot is somewhat slow , will increasing the speed cause a bigger miss match between map and laser scan ?

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answered 2022-06-30 07:22:13 -0500

Mike Scheutzow gravatar image

The drift is accumulating because the standard ros amcl only localizes one time. You have to write code to re-trigger amcl after it finishes (or modify the amcl code itself to do so.) This was discussed in #q402509 last week.

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Asked: 2022-06-29 12:09:38 -0500

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Last updated: Jun 30 '22