Week 7 & 8 - minaamakary/MENA GitHub Wiki
12-08-2024 - Turn 90 degrees function modification
Modified the turn 90 degrees function with math parameters to make the turn exactly 90 degrees. The function is supposed to turn 90 degrees and stop so that the movement can be smoother, but the robot does not act the intended way instead it rotates and then deviates.
13-08-2024 - Process dying unexpectedly
The navigation process on Gazebo suddenly quits, and the process dies. A message that the process has died without killing Gazebo deliberately. Initially with searching one of the issues that pops up frequently from others is processing power. Since the device used is a Mac M1 with a virtual machine this seems to be an issue. Upon further searching, it appears that there are two scripts for navigation running in the launch file which causes the process to be automatically killed. Upon removing the other script from the launch file the process runs smoother.
14-08-2024 - Severe deviation
The robot is now moving from spawn to the first wall, and then rotates 90 degrees and then moves with a deviation to the right to hit the wall for no reason. Images below to demonstrate.
19-08-2024 - Debugging the robots movement
Tried to debug by introducing a line of code to stop the robot before introducing the 90 degrees function. The issue still presents itself. Tried the same before and after the function to force the robot to stop reducing deviation levels. The issue still presents itself.
20-08-2024 - Deviation decreased
Reduced the linear speed from 0.5 to 0.1 and the deviation has significantly decreased now, we still encounter a level of deviation has significantly decreased now. We still encounter a level of deviation as we go along. The deviation takes time to present itself after the robot has reached more distance. Issue has not been 100% resolved. Robot keeps deviating with a less steep angle hits the wall, and continues moving with a deviation, hitting the wall again but eventually moving in a straight line.
Demonstration below: