Reserve caseProbeginnerScan matching
The map draws the corridor twice
Restore consistent scan matching without manually editing the occupancy grid.
Pairs with Mapping and SLAM in Mobile Robot Reliability. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
After a fast turn, the same corridor appears as two parallel walls.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
odometry poseLaserScan timestampscan matcher
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.
- Single corridor wall pair
- Timestamp skew below 30 ms
- Hidden regression behavior
- Root cause explanation