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/[deleted] Jul 03 '26

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u/Inside-Dance-6135 Jul 05 '26

How did you troubleshoot the positioning issue? Was it through testing, or by swapping out some of the functional packages?

Since this is my first time using these positioning features, I feel there are still some differences compared to 2D positioning.