Guided beta caseProbeginnerEncoder sign
The robot drives straight but odometry curves left
Restore odometry direction without swapping motor command polarity.
Pairs with Encoders, IMU, and odometry in Mobile Robot Reliability. Read the concept first, then diagnose it here.
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Both wheels move forward physically, but left encoder ticks decrease.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
wheel rotationencoder signdifferential odometry
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.
- Straight run yaw below 1 degree
- Reverse run remains symmetric
- Hidden regression behavior
- Root cause explanation