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In productionProintermediateLocalization robustness

A single bad fix teleports the robot across the map

Stop one outlier correction from throwing the whole pose estimate, without rejecting normal fixes.

Pairs with Field cases: localization from a real AMR in Nav2 Incident Response. Read the concept first, then diagnose it here.

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Operator report

The estimate holds steady, then on one fix it jumps twenty metres and the robot lurches.

Ubuntu 24.04, ROS 2 Jazzy, Nav2, Gazebo Harmonic, warehouse mission simulator

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01absolute fix→
  2. 02pose_gate→
  3. 03pose estimateOUT
02

How this lab works

You diagnose it. No command list.

Open the repair workspace and gather your own evidence in a real terminal. No diagnostic commands are handed to you - finding the fault is the exercise. Stuck? Progressive hints unlock inside the workspace.

03

Verification

Pass more than the visible symptom.

4 checks
  • A small correction is accepted
  • An outlier teleport is rejected
  • Hidden regression behavior
  • Root cause explanation