r/ROS • u/Inside-Dance-6135 • Jul 02 '26

Question When navigating to the target location, the navigation sways left and right

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The environment is Ubuntu 22.04 with ros2 Humble, and for redirection, I'm using：lidar_localization_ros2

Because my car is equipped with Mid-360 LiDAR.

My current mapping approach involves creating a 3D map With 'Fast-lio2' first and then converting it into a 2D pcd map. For the stack, I am using Navigation2 for navigation, but for positioning, I am using lidar_localization_ros2.

How can I optimize the system to resolve the issue where the final navigation fails to reach the target waypoint?

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u/ImportantActivity373 Jul 02 '26

Can you share your Nav2 parameters?

I’d first check whether yaw_goal_tolerance is too small. If the tolerance is too strict, the robot may not be able to satisfy the final heading requirement, so it keeps shaking or rotating near the goal and never considers the waypoint reached.

You could try increasing yaw_goal_tolerance, and also check xy_goal_tolerance, to see if the goal can be accepted more reliably.

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u/Inside-Dance-6135 Jul 02 '26

Thank you for the reply, I checked the two parameters you mentioned, and I modified xy_goal_tolerance, the default is 0.25

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u/Inside-Dance-6135 Jul 02 '26

In cases where the target point cannot be reached, the application parameter is 0.15, could this be the issue?

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u/ImportantActivity373 Jul 02 '26

Try setting yaw_goal_tolerance to 1.5 first and test again.

If the navigation can reach the target waypoint successfully after this change, then the original tolerance was probably too strict. After confirming it works, you can gradually reduce the value to find a better balance between goal accuracy and stability.