In productionProintermediateSensor realism
Perfect LiDAR hides localisation failure
Expose a localisation weakness without adding arbitrary visual noise.
Pairs with Simulation credibility in Mobile Robot Reliability. Read the concept first, then diagnose it here.
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Localisation is perfect in simulation but loses confidence near reflective warehouse doors.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
Gazebo ray sensorLaserScan modellocalisation filter
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.
- Noise matches measured envelope
- Localisation recovers under dropout
- Hidden regression behavior
- Root cause explanation