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In productionProbeginnerController braking

The robot sails past the dock

Give the final approach enough braking to stop at the goal instead of overshooting it.

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

The robot cruises in, starts braking near the goal, and rolls straight past it every time.

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

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01approach controller→
  2. 02braking→
  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
  • Robot stops at the goal without overshooting
  • Robot still reaches the goal (does not stall far short)
  • Hidden regression behavior
  • Root cause explanation