BUG:two close right-anlges in global path triggers robot stop

[cliffe10086]

Bug report

Required Info:

• Operating System:Ubuntu 22.04
• ROS2 Version:humble
• Version or commit hash:f79de33c3c192cd66377dc9538bdcbc3597b7f66
• DDS implementation:default

Steps to reproduce issue

export TURTLEBOT3_MODEL=waffle
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/opt/ros/humble/share/turtlebot3_gazebo/models
ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False

then in gazebo ignition, put two walls to filll between tow polls like (.-.-.)
robort is below the wall in the middle , goal is above the wall in the middle.
     G(oal)
.---------.
     R(obort)

Expected behavior

turn tow right-angle corners and arrive

Actual behavior

stop at origin spot

Additional information

录屏 2024年10月10日 10时34分59秒.webm
none，my english is poor ,sorry if make troubles

[SteveMacenski]

I don’t understand what you mean. Can you describe this in more detail with some image if necessary?

[cliffe10086]

I don’t understand what you mean. Can you describe this in more detail with some image if necessary?

i have a video submitted above(.webm).here are two more image.in the first ,when global path has two right-angle corner,robort will stop.in second is a provided gazebo map with two small change(added two walls).


when i set a goal behid walls,which will make a global path with two right-angle,as image 3

robot will stop at the first corner.as 4

but when i break the whole global path into two,one goal at the first corner,one at the final goal.it works well.as 5&6&7



and then i set goal at origine point,it still stop.as 8&9


i have try to change the parameters in cost map and controller_server yesterday.it makes no use .above situation in images i changed nothing in code and parameters.

[SteveMacenski]

Have you made an attempt to tune the controller? Which are you using and what are its parameters?