ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | Q&A
Ask Your Question


asked 2013-06-10 03:53:16 -0500

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 :)

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2013-07-14 22:15:04 -0500

tfoote gravatar image

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

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools


Asked: 2013-06-10 03:53:16 -0500

Seen: 109 times

Last updated: Jul 14 '13