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Setup navigation stack for a pioneer Robot

Hi, I am trying to setup navigation stack for my pioneer p3dx robot. Currently i am running all of the related nodes and every thing is working well. but my robot does not follow the planner path and never reaches the goal. its particle cloud does not matches with the given static map and estimated position of the robot does not match with its real position. So where is the problem? is it related to odometry? or my configurations?

The only sensor which i am using is a UTM laser scanner and the odometry source is RosAria's odometry topic. is it enough for having a good navigation or i should combine IMU with the robot odometry message using robot_pose_ekf package?