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UbiquityRobotics / move_basic

A minimal navigation node
BSD 3-Clause "New" or "Revised" License
69 stars 21 forks source link

Better navigation test #65

Closed dorkamotorka closed 3 years ago

dorkamotorka commented 3 years ago

I managed to implement one of the algortihm, which regulates velocity according to the distance to the reference pose. With it the error in the x-direction was significantly decreased(I have no clue why with the previous navigation test was so high - aprox 0,99meters), which now is aprox. 0,01-0,001meters. I also added and changed a bit the abort-goal methods. The program was tested in Gazebo - empty world and Rviz, both without objects.

dorkamotorka commented 3 years ago

This might also solved the #37

dorkamotorka commented 3 years ago

Merged shaking - while robot was going towards the goal, if in the meantime he received a new goal he did the following: after finishing up the linear move, he started rotating in the final orientation and after finishing that, immediatelly in the direction of the new goal, which appeared to cause a bit of the shaking(for example. robot first turning right and then immidiatelly to left). I changed that to: if in the meantime of proccesing one goal a new one is sent, the final rotation for the current goal is the initial orientation for the next goal.

dorkamotorka commented 3 years ago

This PR will be closed if the #67 merges.

dorkamotorka commented 3 years ago

Implemented in #76. Closing