Reserve caseProintermediateOptical frame convention
Detections appear behind the robot
Place detections in front of the robot without changing the camera image.
Pairs with TF frame chains in Mobile Robot Reliability. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
The image is correct, but projected detections appear behind `base_link`.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
camera optical measurementframe_idbase transform
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.
- Detections project in front
- Image pixels remain unchanged
- Hidden regression behavior
- Root cause explanation