In productionProintermediateInflation policy
Inflation closes the doorway
Preserve obstacle avoidance while allowing a validated doorway passage.
Pairs with Footprints, inflation, and geometry in Nav2 Incident Response. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
No collision exists, but the planner treats all doorway cells as prohibitively costly.
Ubuntu 24.04, ROS 2 Jazzy, Nav2, Gazebo Harmonic, warehouse mission simulator
System boundary
Trace only the relevant path.
lethal obstacle cellsinflation layerplanner cost
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.
- Doorway path found
- Wall-adjacent path remains penalized
- Hidden regression behavior
- Root cause explanation