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Robot always tries to fix his position while it is almost on target point

asked 2022-10-28 06:50:16 -0600

Kostas Tzias

11 ●7 ●15 ●21

I am using navigation stack with gmapping to do slam .

The problem is that the robot after it reaches the target it stops for a few seconds (3-5sec) and then tries again to fix its position while its almost perfect .Any ideas why this might happening?

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answered 2022-10-29 01:18:53 -0600

frans
11 ●5 ●9 ●8

this is in simulation or real world robot. maybe your robot odom is oscillating. try to reduce yaw dan goal tolerance in params. have you try it?

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Its in real world . Ive tried to reduce yaw_goal_tolerance but the robot was doing the same thing just faster . Then i increased this parameter and did again but slower .

Now you might thinking <increase it="" more="" to="" make="" it="" do="" that="" in="" even="" slower="" frequency="" >="" but="" the="" problem="" is="" that="" it="" never="" stops="" fixing="" the="" pose="" .="" it="" never="" rest.<="" p="">

Kostas Tzias ( 2022-10-29 13:14:37 -0600 )edit

maybe you should post your params/code to help other understand your problem

frans ( 2022-10-29 23:31:54 -0600 )edit

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Asked: 2022-10-28 06:50:16 -0600

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Last updated: Oct 29 '22

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Robot always tries to fix his position while it is almost on target point