Guided beta caseProadvancedSafety integration
Protective stops trigger oscillation recovery
Keep protective stops authoritative without misclassifying them as navigation failure.
Pairs with Goal tolerances, oscillation, and safety in Nav2 Incident Response. Read the concept first, then diagnose it here.
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Every brief safety stop increments oscillation recovery and eventually aborts the mission.
Ubuntu 24.04, ROS 2 Jazzy, Nav2, Gazebo Harmonic, warehouse mission simulator
System boundary
Trace only the relevant path.
safety statevelocity gateprogress checker
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.
- Safety stop remains immediate
- Mission resumes without false oscillation
- Hidden regression behavior
- Root cause explanation