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RobotnikAutomation / summit_xl_sim

Packages for the simulation of the Summit XL, Summit XL HL and Summit-X (including X-WAM) robots
BSD 2-Clause "Simplified" License
66 stars 39 forks source link

Bad navigation behavior #17

Open juakofz opened 6 years ago

juakofz commented 6 years ago

Hi, I have downloadaed an installed the packages following the instructions. When I run the simulations with navigation turned on, the robot behaves poorly, barely following it's planning trajectory. It seems it has a lot of trouble turning.

In this example, it has to follow a pretty straight trajectory, which should take it only a few seconds, but in stead it goes on straight, just to stop and turn very slowly, never quite reaching it's goal. Also, at the end the odometry is quite poor, as it is almost 90º from it's real orientation.

screenshot from 2018-06-15 14-56-53

I have tried tunning some parameters, in navigation, the controllers... but I didn't achieve anything. Is this... normal? Have I maybe missed some step in the process?

lesire commented 5 years ago

I think I am facing the same issue: I don't use the navigation stack, but when I directly send velocity commands to the robot, the odometry 'pose' is completely wrong. Any hint?