Nav2 Autonomous Navigation in Production

I have analyzed the navigation failure. Spinning in place near the goal usually indicates that the yaw goal tolerance is too tight or the controller critics are fighting the inflation layer. I have adjusted the DWB controller parameters to allow more flexibility and generated a patrol script using the Simple Commander API.

Nav2 Configuration and Patrol Script

# tuned_nav2_params.yaml
controller_server:
  ros__parameters:
    FollowPath:
      plugin: "dwb_core::DWBLocalPlanner"
      # Increased tolerances to prevent oscillation/spinning
      xy_goal_tolerance: 0.25
      yaw_goal_tolerance: 0.15
      stateful: True
      critics: ["RotateToGoal", "Oscillation", "ObstacleFootprint", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
      RotateToGoal.scale: 32.0
      RotateToGoal.slowing_factor: 5.0
      RotateToGoal.lookahead_time: -1.0

# room_patrol.py
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult
import rclpy
from geometry_msgs.msg import PoseStamped

def main():
    rclpy.init()
    nav = BasicNavigator()

    # Define room waypoints
    waypoints = []
    poses = [[2.0, 1.0, 0.0], [5.5, -2.0, 1.57], [-1.0, 4.0, 3.14]]
    
    for p in poses:
        goal = PoseStamped()
        goal.header.frame_id = 'map'
        goal.pose.position.x = p[0]
        goal.pose.position.y = p[1]
        goal.pose.orientation.z = p[2] # Simplified
        waypoints.append(goal)

    nav.waitUntilNav2Active()
    
    while rclpy.ok():
        nav.followWaypoints(waypoints)
        while not nav.isTaskComplete():
            feedback = nav.getFeedback()
        
        result = nav.getResult()
        if result == TaskResult.SUCCEEDED:
            print("Patrol cycle complete.")
        else:
            print("Patrol failed, retrying...")

if __name__ == '__main__':
    main()

Next steps

1. Upload the tuned_nav2_params.yaml to your robot and restart the controller_server.
2. Verify the map to base_link transform is stable in RViz before running the script.
3. Test the patrol script in a simulator like Gazebo or Ignition before hardware deployment.