Pricing
00
In productionProintermediateController smoothing

The wheels jerk on every plan update

Rate-limit the commanded speed so a step change in the target ramps smoothly instead of jerking.

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

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Operator report

Each time the plan updates, cmd_vel jumps and the robot lurches; the ride is jittery.

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

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01target speed→
  2. 02velocity_smoother→
  3. 03/cmd_velOUT
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
  • Commanded speed ramps within a slew-rate limit
  • Commanded speed still reaches the target
  • Hidden regression behavior
  • Root cause explanation