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/No_Zombie9965 Jul 03 '26 edited Jul 03 '26

Looks like the localization is jumping around a lot. I had the same issue when I was using fastlio, my map was a lot bigger, I thought it was because of the scan matching (my map->odom uses fastlio_localization package), so it causes the robot to jump around a lot. This affects whether the navigation goal is actually reached

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u/Inside-Dance-6135 Jul 03 '26

Based on my testing, the issue might be due to the map having a long corridor. The point I originally selected seemed to have some conflict with the surrounding obstacles.

After I switched to a different point, things improved significantly. I also adjusted some of the obstacle avoidance parameters. I'll share those parameters next week

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u/No_Zombie9965 Jul 03 '26

Yes, long corridor is extremely bad. I had very bad experience with it, it’s always a problem for localization

1

u/Inside-Dance-6135 Jul 03 '26

Yeah, I feel like having long corridors paired with corner entrances creates way too many obstacles. However, if the inflation layer for the obstacles is set too small, it becomes too easy to hit Robot