In productionbeginnerInertial model
The model explodes in Gazebo
Stabilize the robot without freezing joints or reducing the physics rate.
Pairs with Robot geometry and physical model in Mobile Robot Reliability. Read the concept first, then diagnose it here.
Open repair workspaceOperator report
Links accelerate apart immediately after simulation starts.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
URDF inertial tensorGazebo physics solverrobot links
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.
- Model remains stable for 30 s
- Wheel joints remain controllable
- Hidden regression behavior
- Root cause explanation