differential drive robot exhibits a spinning motion as it tries to make use of the Navigation stack

I am working on a 2 wheeled differential drive robot that can navigate indoors using (Nav_Stack) with ROS-noetic. I've used the following :

For the sensormsgs/LaserScan, i am using RplidarA1 with (rplidarros) and (hector_slam) package.
For the navmsgs/Odometry, i am using ekffilter with (brushless encoders) and (adafruit BNO055 imu)

Everything seems to be working correctly, such as controlling the robot using cmdvel, mapping, and commoncostmap. However, every time I tried to send a (2dnavgoal) using Rviz, the robot keeps spinning around itself.

please check the link below: https://mega.nz/folder/h6xAFRCC#QWublxYyBdWZKEfRRbc2xg

Asked by Morad on 2023-07-01 07:00:41 UTC

differential drive robot exhibits a spinning motion as it tries to make use of the Navigation stack

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