Guided beta caseProbeginnerLaserScan indexing
The scan is mirrored after filtering
Restore scan geometry while retaining the outlier filter.
Pairs with LiDAR data and sensor timing in Mobile Robot Reliability. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
Raw scan obstacles are correct; filtered scan obstacles are mirrored.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
raw LaserScanrange filterfiltered LaserScan
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.
- Nearest obstacle angle preserved
- Outliers remain filtered
- Hidden regression behavior
- Root cause explanation