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In productionProintermediateSafety gating

The safety gate blocks the wrong direction

Block motion toward an obstacle and allow the robot to reverse away from it.

Pairs with Field cases: safety gating from a real AMR in Production ROS Operations. Read the concept first, then diagnose it here.

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Operator report

With an obstacle ahead, the robot is blocked from backing away but allowed to drive forward into it.

Ubuntu 24.04, ROS 2 Jazzy, Cyclone DDS, containers, systemd, OpenTelemetry fleet sandbox

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01obstacle detection→
  2. 02directional_safety→
  3. 03cmd_velOUT
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
  • Forward motion into an obstacle is blocked
  • Reversing away from an obstacle is allowed
  • Hidden regression behavior
  • Root cause explanation