Hi everyone,
I’m new to Nav2 and I am currently using Isaac Sim as my simulation platform. The AMR is the official Nova Carter, equipped with a single front-mounted 2D LiDAR.
Navigation works well in a relatively small indoor factory environment. The AMR follows the planned path correctly and AMCL localization appears stable.
However, after switching to the larger road environment shown in the attached images, I started experiencing some unusual behavior:
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The AMR moves in a zigzag pattern during navigation instead of driving smoothly along the center of the road.
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As navigation continues, the robot in Isaac Sim gradually drift off the road and may even end up on the roadside. At the same time, RViz still shows the robot in the middle of the road, so the robot’s position in RViz is clearly inconsistent with its actual position in Isaac Sim.
I’d like to ask what kind of issue would typically cause this behavior?
Thanks in advance