Bad navigation behavior

[juakofz]

Hi, I have downloadaed an installed the packages following the instructions. When I run the simulations with navigation turned on, the robot behaves poorly, barely following it's planning trajectory. It seems it has a lot of trouble turning.

In this example, it has to follow a pretty straight trajectory, which should take it only a few seconds, but in stead it goes on straight, just to stop and turn very slowly, never quite reaching it's goal. Also, at the end the odometry is quite poor, as it is almost 90º from it's real orientation.

I have tried tunning some parameters, in navigation, the controllers... but I didn't achieve anything. Is this... normal? Have I maybe missed some step in the process?

[lesire]

I think I am facing the same issue: I don't use the navigation stack, but when I directly send velocity commands to the robot, the odometry 'pose' is completely wrong.
Any hint?