In productionProbeginnerInitial pose
Localisation never converges
Recover localisation without restarting the entire navigation stack.
Pairs with Localisation confidence in Mobile Robot Reliability. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
Particles remain spread across the map after the robot is placed at a known dock.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
initial pose distributionparticle filterscan likelihood
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.
- Filter converges at dock
- Final covariance below threshold
- Hidden regression behavior
- Root cause explanation