SLAM and AMCL conflict

asked 2023-06-28 21:30:00 -0600

lukin1225 gravatar image

I have created a robot with Ackermann address in ROS2 Humble Hawksbill. The robot navigates correctly autonomously using SLAM. As controller I use the plugin: "nav2_regulated_pure_pursuit_controller::RegulatedPurePursuitController" and as trajectory generator the plugin: "nav2_smac_planner/SmacPlannerHybrid" with their respective configurations for the robot to go backwards. So far everything is working correctly.

When wanting to do the same, but using AMCL. For this I load the static map. The robot only makes forward movements, even if I draw a backward trajectory, the robot does not respond to that.

I don't understand why in SLAM the robot works in reverse, but not in AMCL. In AMCL everything works correctly, except going backwards, the trajectories are marked but not executed. Is it possible that in AMCL the backward movement is not available?

Any help in solving this robot backward movement problem would be greatly appreciated. Thanks in advance.

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