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u/An2s1

▲ 48 r/ROS

[ROS2 Humble / Nav2] Robot spins continuously when goal requires rotation — only reaches straight-line goals

Setup:

- ROS2 Humble, real robot (4WD)

- Nav2 with AMCL localization

- SmacPlanner2D (global) + DWB local planner

- EKF odometry fusion (`/odometry/filtered`)

- Map present, AMCL working, teleop working fine

Issue:

Robot navigates perfectly to goals that are directly in front of it (straight line). As soon as the goal requires any rotation — curved path or goal behind the robot — it starts spinning in place endlessly. Looks like it enters recovery spin behavior and never exits.

Github Link (config files and terminal log can be found here):

https://github.com/Anandhu-Sudha/my-ros-bot.git

Has anyone faced this exact issue? What is the reason for this recovery behavior loop? Any fix suggestions appreciated.

u/An2s1 — 1 day ago
▲ 14 r/ROS

Nav2 goal failure.

Hi people,

I'm first time working with nav2, the robot fails to take sharp turns, what is the cause of this issue. How can i optimize the turning radiius.. taking wider turns.

u/An2s1 — 7 days ago
▲ 2 r/ROS

Hi people,

I have previously made a post on how to correct the drift in the feedback from encoders, and I have decided to integrate an IMU in the setup. I'm currently using ros2_control to communicate with microcontroller for Motor control and encoder feedback reading, so should i connect the imu to the micro controller and read the data through ros2_control or is there any direct bno055 driver for ros2 is available.?. Which method will be efficient,

Expecting suggestions from people who have interfaced imu in their robot setup.

Thank you.

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u/An2s1 — 19 days ago
▲ 2 r/ROS

Hi folks 🤗,

I have been building an autonomous rover with 4 wheel mecanum drive setup. But the wheel slip is too much, the encoder feedback is wrong during the yaw motion. Currently using diff_drive_controller pluggin, how can i fix this other than adding an IMU to this setup?

Thanks in advance.

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u/An2s1 — 21 days ago