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Hi guys ,

I try to move my turtlebot with a map. I finished my example where i give a point to my bot. After he got the point he moves to the point but he drive in circles. When i start the script two times he moves correctly most of the time.

Can somebody help me?

I use Ros Kinetic with Gazebo 7.0. First of all i start gazebo:

roslaunch turtlebot_gazebo turtlebot_world.launch

after this i load the map:

roslaunch turtlebot_gazebo amcl_demo.launch

After this i use a script to move to a point or a bunch of points with my robot. Sometimes the robot drives in the direction of the point but he circles around while he moves. He rotates around 360 degree drives a bit further then he stop and rotates again. Most of the time i need to restart the script and he drives straight to the point without any circles.

I used this script as a foundation for my purpose:

https://github.com/markwsilliman/turtlebot/blob/master/go_to_specific_point_on_map.py


Originally posted by Baumboon on ROS Answers with karma: 206 on 2017-10-09

Post score: 1


Original comments

Comment by tfoote on 2017-10-09:
Please edit your question to provide more information. A video of the behavior would be preferable, as well as a full description of how to reproduce your problem. See http://wiki.ros.org/Support for guidelines on asking questions.

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1 Answer 1

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This sounds like a common behavior if the robot gets close to the goal, but is just outside it's tolerance. So it drives in a small circle to try to get closer to the goal position than it's current pose.

There's a guide for tuning the navigation stack here with links to several other resources: http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide

You probably want to slightly increase the tolerance for the goals so that the robot doesn't continue to hunt once it gets there.


Originally posted by tfoote with karma: 58457 on 2017-10-09

This answer was ACCEPTED on the original site

Post score: 1


Original comments

Comment by Baumboon on 2017-10-11:
Okay , then i need to improve the navigation stack and optimize it. Thank u for your help.

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