Public guided casebeginnerSensor frame

The obstacle appears on the wrong side

Align LiDAR evidence with the physical warehouse without reversing scan samples.

Pairs with TF frame chains in Mobile Robot Reliability. Read the concept first, then diagnose it here.

Open repair workspace

Operator report

A pallet physically on the right appears on the left side of the costmap.

Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot

System boundary

Trace only the relevant path.

LiDAR measurementbase_link to laser transformcostmap

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.

Right obstacle maps right
TF tree remains connected
Hidden regression behavior
Root cause explanation