In productionProbeginnerBehavior tree control flow
Recovery loops forever
Bound recovery and surface a useful failure without reducing mission resilience.
Pairs with Behavior trees and recovery in Nav2 Incident Response. Read the concept first, then diagnose it here.
Unlock this lab with ProOperator report
The robot alternates spin and clear-costmap actions indefinitely.
Ubuntu 24.04, ROS 2 Jazzy, Nav2, Gazebo Harmonic, warehouse mission simulator
System boundary
Trace only the relevant path.
navigation failurerecovery subtreeretry decorator
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.
- Recovery bounded to 3
- Failure reason is reported
- Hidden regression behavior
- Root cause explanation