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Robot spins when reaching the goal. #1

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maxpolzin opened this issue Sep 4, 2023 · 1 comment
Open

Robot spins when reaching the goal. #1

maxpolzin opened this issue Sep 4, 2023 · 1 comment

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@maxpolzin
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Screencast.from.09-04-2023.02.33.58.PM.webm

As you can see the robot moves towards the set goal. When arriving it starts spinning around the goal. Do you have any hints why this could be the case?

Note, I am purposefully not fusing wheel odometry because my robot doesn't have good wheel odometry. I don't care about high accuracy as long as the robot somewhat moves towards the goal.
@maxpolzin
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This can be fixed by placing the imu_link frame at the same place as the base_link frame in the URDF. This feels slightly hacky, but resolves the rotation around the goal.

@maxpolzin maxpolzin reopened this Sep 4, 2023
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@maxpolzin