I am trying to figure out why my Clearpath Ridgeback makes a complete revolution when trying to lock in on some of my locations. It seems to happen at the ones that are furthest from my starting point or origin location. I have also noticed that the localization drifts off as the robot sits in location.
Here is a video of the issue:
https://www.youtube.com/watch?v=Fd2K2j3QmlY
Here is a tuning spreadsheet that I made up the current values are in the Original value column unless column. If I changed them they are in the TEST 1 or TEST 2 column:
https://drive.google.com/open?id=1_fCAlZwFNxZYt_n2heOoOIh0bfJvnBgRYoNUKyH4PY0
Here are some pictures representing the drift:
https://drive.google.com/open?id=0B6GXRrtXO0lAcDdGR2l3aGRNN0ctUGZtSGZ0V1BpQ29wRV9J
https://drive.google.com/open?id=0B6GXRrtXO0lASkZzalZyQ0hhVERYMGc0ZTNINXlUZmNJZnNz
The first picture is after setting the Navigation estimate and turning it 360 to tune it in. the second is after it sits for about 2 minutes.
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