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Simple Navigation Problem

asked 2013-04-21 07:02:56 -0500

Alireza gravatar image


I have integrated a Pioneer3AT mobile robot with ROS 2d navigation stack. It's scan matches are completely correct all the time, but sometimes when i send it a navigation goal, it keeps rotating for a few seconds. specially when it is moving through a door. also the planned path for the robot is very near to the walls, I know that there is a lots of parameters in navigation stack to solve this problems, but i don't know which one is the right one!

Any body has experienced these kind of problems ?

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answered 2013-04-21 16:07:08 -0500

I have had some of these problems too. I think inflation_radius and cost_scaling_factor control how "expensive" it is for the robot to go close to the walls and should keep the robot further away. But I have had great luck with tuning them myself.

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Asked: 2013-04-21 07:02:56 -0500

Seen: 208 times

Last updated: Apr 21 '13