Hi there,
I come with a problem with my first rosject.
In the topic experiment of first rosject, we need to do “wall following behaviour”. But I have tried lots of times, it still seems wired. And I open a rqt_plot to show the following data:
/scan/ranges[0]
/scan/ranges[360]
/scan/ranges[719]
but the plot is itself very wired:
Firstly I put the turtlebot always along the wall, but ranges[0] is alwas equal to ranges[719]. If I don’t misunderstand, ranges[0] represents distance of right side, and ranges[719] represents left. They cannot be equal anyway when the bot is near a wall and the direction is also along the wall.
I want to post pictures of rqt_plot, but I don’t know how to do that. I can only save the pictures inside the online demo user folder, not in my own computer. But here I can only choose the pictures in my own computer to upload… Anyway what I want to show is that when a bot is still, near the wall, along the wall, exactly not at a corner, but ranges[0] is also equal to ranges[719], that means the distance of front and right side are the same, but it is not in the simulation. So I get confused how to control the bot with such a wired laser… The result is of course always failed.
Secondly, if the bot moves along the wall, when the right distance is too big, it will move closer to the wall. But the ranges[0] will strangely get bigger, as it appraches the wall.
Before that I thought it was the problem of speed, so I changed lots of speed sets. But now I think it is the problem of laser data. please help…
Thank you very much!