I have a GoPiGo (Raspberry Pi b+) that uses RPLIdar A2 for scanning. I've been trying for a long time to get mapping working properly with movement. I've searched a lot on how to fix my problems but none of the solutions seemed to work.
I'm using Ubuntu_Mate 16.04 and all the lastest stacks and updates on everything else, the repos I use are listed below.
For navigation im using https://github.com/iot-magi/gopigo3_navigation
in combination with that repository im also using https://github.com/ros-gopigo/gopigo3_node
finally, im using this repo for the RPLIdar https://github.com/Slamtec/rplidar_ros
Im getting the map and costmap up properly, and it seems to be working fine. But as I try to publish a goal to the navgoal the robot gets very confused and starts rapidly turning (i will provide a video if it's needed).
I should also point out that the map in RViz flickers a lot, which i cannot find a solution for.
I noticed something that seems off with my TF_tree, GoPIGO_body and LIdar has 10000 hertz average rate. Could this be causing a problem?
https://imgur.com/U8LLtqp
I have costumised some values so it works with my hardware setup.
I would greatly appreciate any help or points in the right direction. If there is anything more you want to know about my config or anything else ill answer very fast.
↧