In productionProbeginnerExecutor blocking
The safety subscriber reacts two seconds late
Restore the stop deadline without increasing publisher rate or changing DDS.
Pairs with Executors and callback timing in ROS 2 Systems Debugging. Read the concept first, then diagnose it here.
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Safety messages arrive at 20 Hz, but the actuator stop callback runs up to two seconds later.
Ubuntu 24.04, ROS 2 Jazzy, Python and C++ nodes, browser telemetry workspace
System boundary
Trace only the relevant path.
safety publisherexecutor queuestop callback
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.
Verification
Your repair must pass more than the visible symptom.
- Stop latency below 50 ms
- Planner remains functional
- Hidden regression behavior
- Root cause explanation