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Eitan,

I followed your advises, but I feel I now need to retune my path scoring parameters. Indeed, the robot now gets sometimes stuck in the middle of his trip. I suspect the planner cannot decide between two possible paths.

I am also seeing a weird thing here: Sometimes, my robot gets very close to its goal and start turning at a very very low angular speed. Alhtought my min_in_place_rotational_vel parameter is set to 0.1, I can see with rxplot that the base receives an angular velocity command around 0.0125 rad.sec^-1. Any idea of where this could come from?

Finally, I would have a broader question: This is the third time for me to port navigation on a robot (2 differential and 1 holomnic drive). Although I am a big fan of the stack, I usually find myself endlessly trying parameter combinations until the robot suddenly behaves like I want. I read the ros documentation quite extensively, but I must say navigation stays a kind of greyish box which I have problems understanding all interaction/configuration nooks and crannies. Therefore, I was wondering if, given your experience and that navigation is mainly your baby, you would advise any particular kind of tuning process. Are there any parameters you would start setting first? any particular tuning or diagnosis trick?

thanks again for your help

Raph