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navigation-stack-actionlib

asked 2013-06-10 03:53:16 -0600

acp gravatar image

Hi every body

I am using actionlib to move the bsae of the robot to certain coordinates.

I give the coordinates as follows:

move_base_msgs::MoveBaseGoal goal;

goal.target_pose.pose.position.x = 2;

goal.target_pose.pose.position.y = 6;

double th=D2R*(atan2( msg.pose.pose.orientation.y, msg.pose.pose.orientation.y));

geometry_msgs::Quaternion gth = tf::createQuaternionMsgFromYaw(th);

goal.target_pose.pose.orientation =gth;

Then the robot moves to the desired coordinates, however the robot has a rotation behaviour when it reaches the goal.

How can avoid that rotation? I just want the robot to arrive to the desired position and stay there without any rotation.

In advance thank you :)

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answered 2013-07-14 22:15:04 -0600

tfoote gravatar image

Increase the tolerance on the goal. If it's too tight the robot will hunt as it gets close.

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Asked: 2013-06-10 03:53:16 -0600

Seen: 295 times

Last updated: Jul 14 '13