When spawning a turtlebot3 through the Open-RMF traffic editor, the turtlebot3 spawned is slightly slanted so the caster wheel is clipped below the floor as shown in this picture:
As such, the LiDAR scans at the back of the turtlebot are hitting the floor and hence perceiving the floor as obstacles in Nav2 Rviz as shown in this picture:
This damages the quality of the map, as this new "obstacle" appears throughout the entire map whenever the turtlebot3 moves, which messes up the global costmap, and in turn messes up navigation completely. As such, this is a critical issue that needs to be dealt with. The temporarily solution found is to manually rotate the turtlebot3 after it has spawned and make sure that the caster wheel does not clip through the floor as shown:
However, a permanent or automated solution would be preferred, hence this issue will remain unresolved for now.
When spawning a turtlebot3 through the Open-RMF traffic editor, the turtlebot3 spawned is slightly slanted so the caster wheel is clipped below the floor as shown in this picture:
As such, the LiDAR scans at the back of the turtlebot are hitting the floor and hence perceiving the floor as obstacles in Nav2 Rviz as shown in this picture:
This damages the quality of the map, as this new "obstacle" appears throughout the entire map whenever the turtlebot3 moves, which messes up the global costmap, and in turn messes up navigation completely. As such, this is a critical issue that needs to be dealt with. The temporarily solution found is to manually rotate the turtlebot3 after it has spawned and make sure that the caster wheel does not clip through the floor as shown:
However, a permanent or automated solution would be preferred, hence this issue will remain unresolved for now.