In productionintermediateCollision geometry
The planner clips shelving corners
Correct collision checking without inflating every obstacle globally.
Pairs with Robot geometry and physical model in Mobile Robot Reliability. Read the concept first, then diagnose it here.
Open repair workspaceOperator report
The visual robot clears a shelf, but its rear battery box collides during turns.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
physical chassisNav2 footprintcollision checker
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.
- Footprint encloses chassis
- Corner route completes collision-free
- Hidden regression behavior
- Root cause explanation