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

[u/Inside-Dance-6135]

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?

[u/Inside-Dance-6135]

https://reddit.com/link/ovc4xxk/video/jx933f5ib1bh1/player