Navigation: Robot cannnot reach goal

Question

Hello everyone, I'm using navigation stack on a turtlebot-based robot. When launching move_base.launch, I can send 2d nav goal in Rviz and robot cannot find its way to the goal, it just makes small movements. It only reaches it when it is a orientation change but not position one. I looked for errors with roswtf and I get:

ERROR The following nodes should be connected but aren't: * /move_base->/move_base (/move_base/global_costmap/footprint) * /move_base->/move_base (/move_base/local_costmap/footprint)

How can I fix it?

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Originally posted by alejandrolri on ROS Answers with karma: 16 on 2021-09-15

Post score: 0

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Original comments

Comment by Mike Scheutzow on 2021-09-15:
Typing turtlebot footprint into the search bar at the top of this page gets 259 hits. Please review some of those existing answers. If you figure it out, and it's different from what @osilva said, you can help out by answering your own question.

Answer 1

I suggest you look at this thread: https://github.com/ROBOTIS-GIT/turtlebot3/issues/266

Looks it may be caused by either your odometer not reset or sending multiple /cmd_vel messages. So one way to dig deeper is to take a look at rostopic list

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Originally posted by osilva with karma: 1650 on 2021-09-15

This answer was NOT ACCEPTED on the original site

Post score: 1

Answer 2

Thank you for your help. There wasn't any problem with topics. Tuning navigation parameters solved my issue.

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Originally posted by alejandrolri with karma: 16 on 2021-09-20

This answer was ACCEPTED on the original site

Post score: 0

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Original comments

Comment by osilva on 2021-09-20:
Glad you found a solution