In productionProbeginnerMotor limits
The robot climbs an impossible ramp
Make the simulation respect the documented drive torque without changing ramp geometry.
Pairs with Simulation credibility in Mobile Robot Reliability. Read the concept first, then diagnose it here.
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The simulated AMR accelerates up a 25-degree ramp that hardware cannot climb.
Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot
System boundary
Trace only the relevant path.
controller commandjoint effort limitwheel-ground contact
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.
- Torque remains bounded
- Robot fails the impossible ramp
- Hidden regression behavior
- Root cause explanation