Pricing
00
In productionProbeginnerLocalization frames

The robot is sure it is facing the wrong way

Make the heading derived from the rear guide camera match the robot's true heading, without touching the tag decode.

Pairs with Field cases: localization from a real AMR in Nav2 Incident Response. Read the concept first, then diagnose it here.

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Operator report

Localizing off the rear camera, position is spot-on but heading is reversed, and every fix yanks the pose around.

Ubuntu 24.04, ROS 2 Jazzy, Nav2, Gazebo Harmonic, warehouse mission simulator

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01guide camera→
  2. 02pgv_localization→
  3. 03map->base_linkOUT
02

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.

03

Verification

Pass more than the visible symptom.

4 checks
  • Derived heading matches the robot's true heading
  • Derived heading stays within (-pi, pi]
  • Hidden regression behavior
  • Root cause explanation