Reserve caseProbeginnerVelocity constraints
The robot spins but cannot move forward
Restore translational motion without disabling collision checking.
Pairs with Controllers and critics in Nav2 Incident Response. Read the concept first, then diagnose it here.
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Angular commands are non-zero, but every linear command is exactly zero.
Ubuntu 24.04, ROS 2 Jazzy, Nav2, Gazebo Harmonic, warehouse mission simulator
System boundary
Trace only the relevant path.
controller samplesvelocity constraints/cmd_vel
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.
- Forward command produced
- Command stays within limits
- Hidden regression behavior
- Root cause explanation