How to quickly and accurately control the position and orientation of the robot when navigation
How to quickly and accurately control the robot's position and the vehicle's body's orientation in a short time after reaching the target point when using a single line LiDAR and ROS1's Navigation Stack in conjunction with the gmapping algorithm for map building navigation. I hope to control the position within 2cm, and the pose error is within. My problem is that if the tolerance is set very small, the robot will spend an extremely long time searching for accurate position and pose. If the tolerance is too large, the position and pose control accuracy will not meet the requirements. I combine the "move_base" and "gmapping" algorithms through a launch file to achieve SLAM mapping while navigating <launch> <include file="$(find nav)/launch/gmapping.launch"/> <include file="$(find nav)/launch/move_base.launch"/> </launch>
Are you actively building a map, or using a pre-existing map? The distinction is important.
I am actively building a map, how I do this is when I send a goal to my car, it can plan a path and navigate to the goal, at the same time building the 2d environment.