In productionProadvancedMotion model
The robot cannot relocalise after a bump
Restore recovery from a displaced pose without making normal tracking unstable.
Pairs with Localisation confidence in Mobile Robot Reliability. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
After being pushed 0.4 m, the filter remains confidently wrong.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
odometry motion modelparticle proposalscan update
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.
- Relocalises within 8 s
- Normal tracking error remains bounded
- Hidden regression behavior
- Root cause explanation