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Robot randomly jumps around the map #3117
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Both AMCL and slam_toolbox are giving the position inside the map (map frame to odom frame). When you start the navigation with the slam toolbox you have two node giving concurrently giving this position. I think this may explain the jump you see in the simulation. You should try to disable AMCL while mapping with custom launch file. |
@arslogavitabrevis is correct |
Hey @SteveMacenski, @arslogavitabrevis, We tested it with, firstly running only slam to map the office with slam_toolbox and then we turned off slam and loaded .yaml map to navigation stack: In the case above I load the map to navigation using these commands:
We also follow nav2 with slam and the result was the same: If you did not encounter a similar problem maybe you could lead us, where start to searching for a solution. |
You launch the navigation including this file: The bringup_launch.py include the localisation_launch.py that launch the AMCL node. If you want you can do a 'ros2 node list' to check if they are both lauch. You may also get some interesting informations from the command 'ros2 topic info /tf -v' if you check for publisher. |
Hey, @arslogavitabrevis, @SteveMacenski we found the solution, it wasn't related to navigation or slam. |
Bug report
Required Info:
Steps to reproduce the issue
Expected behavior
Map the entire map without random jumps
Actual behavior
Robot doesn't jump if we use slam to scan some room and after that run navigation2 (We tried a few times):
Mapped - streamable
Robot randomly jumps when we start navigation2 and slam_toolbox on the beginning and we try to map the room:
Unmapped - streamable
Additional information
We use physical Turtlebot3 (Jumps don't appear in simulation)
We checked multiple configurations like navigation and slam on Turtlebot or running parts of the nodes on PC (same network), and there were no differences.
We tried both navigation2 and turtlebot3_navigation2 and the behavior was the same.
All config files and launchers are below:
Navigation2 launcher:
Navigation2 param file:
SLAM toolbox launcher:
SLAM toolbox param file:
Robot (TurtleBot 3) launcher:
Robot (TurtleBot 3) param file:
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