In productionProadvancedPose graph
A false loop closure folds the map
Reject one ambiguous loop without disabling loop closure globally.
Pairs with Mapping and SLAM in Mobile Robot Reliability. Read the concept first, then diagnose it here.
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Two similar loading bays are merged, bending the warehouse map.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
place candidateloop-closure scorepose graph optimization
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.
- False closure rejected
- True return closure accepted
- Hidden regression behavior
- Root cause explanation