ROSbot: How to Improve ROS2 Navigation for Precise Robot Movement?

1

Hey everyone,

I am working on a robot using ROS2 and Husarion’s platform…, but I am facing issues with navigation precision. My robot tends to drift slightly when following planned paths, especially around corners. I have already tried tuning PID parameters and adjusting the local costmap, but the issue persists.

Here’s my current setup:

ROS2 Humble
Husarion CORE2
RPLIDAR A1 for mapping
DWA local planner

I am looking for advice on:

Fine-tuning parameters in local_costmap_params.yaml or dwa_local_planner_params.yaml.
Best practices for TF tree calibration to avoid minor localization errors.
Whether upgrading to a better LIDAR or IMU would make a noticeable difference.

If anyone has experience improving robot trajectory accuracy., I would love to hear your suggestions !! When I searched on the forum for the solution I found this thread https://community.husarion.com/t/closed-rosbot-2-pro-tutorials-mapping-and-navigation-strange-behavior-microsoft-azure-administrator but couldn’t get any help.

Thanks in advance for any insights.

Looking forward to your thoughts !!

With Regards,
Derek Theler

2

Hello @derrektheler,

Could you post some footage of the undesirable behavior, it will be easier for me to understand what the problem is?

Moreover, I encourage you to use the MPPI controller first, because it is much more advanced and should behave in a more intuitive way.

Regards

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I’ll also make sure you’re using the repository GitHub - husarion/rosbot-autonomy: Autonomous navigation & mapping for ROSbot 2R / 2 PRO?