In productionProadvancedTrajectory critics
The controller refuses a safe bend
Restore progress while retaining higher cost for trajectories near shelving.
Pairs with Controllers and critics in Nav2 Incident Response. Read the concept first, then diagnose it here.
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All collision-free trajectories receive infinite obstacle cost at a mild aisle bend.
Ubuntu 24.04, ROS 2 Jazzy, Nav2, Gazebo Harmonic, warehouse mission simulator
System boundary
Trace only the relevant path.
trajectory samplesobstacle criticcommand selection
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.
- Safe bend completes
- Near-wall trajectories remain costlier
- Hidden regression behavior
- Root cause explanation