In productionProadvancedBehavior tree blackboard
Recovery resumes toward the old goal
Make replanning consume the operator's updated destination.
Pairs with Behavior trees and recovery in Nav2 Incident Response. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
After a blocked-aisle recovery, the robot drives toward the previous goal.
Ubuntu 24.04, ROS 2 Jazzy, Nav2, Gazebo Harmonic, warehouse mission simulator
System boundary
Trace only the relevant path.
new action goalblackboard keyrecovery replanner
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.
- Replanner uses current goal
- Old goal cannot reappear
- Hidden regression behavior
- Root cause explanation