In the main part of the course, the husky robot was able to reach its goal and stop. But in the course project, with the turtlebot in a much smaller environment, the robot stops short of its goal and never quite reaches it. I have been fiddling with the parameters but haven’t found the right values to enable the robot to actually reach its goal and complete the action.
Another quirk that I haven’t figured out is that if the next goal is in front of the robot, it quickly computes both a global plan and a local plan and starts toward the goal. But if the goal is behind the robot, it is only able to come up with a global plan, and starts doing rotate recovery for a while.