In productionProintermediateInvalid sensor data
Empty space fills with obstacles
Remove false obstacles without discarding valid close returns.
Pairs with LiDAR data and sensor timing in Mobile Robot Reliability. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
The costmap shows a ring of obstacles at the sensor origin.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
invalid LiDAR returnfilter substitutionobstacle layer
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.
- Origin ring disappears
- Valid near returns remain
- Hidden regression behavior
- Root cause explanation