Nav2 Incident Response

Outcome

What you will be able to do

Restore warehouse navigation while preserving geometry, safety, and mission intent.

Build

What you will produce

A resilient delivery-and-docking mission with measurable recovery behavior.

• Nav2 lifecycle
• Costmap diagnosis
• Planner analysis
• Controller critics
• Behavior tree debugging
• Mission recovery

Sample incident

The goal is accepted but the robot never moves

Activate the required server without restarting the simulation.

Full syllabus

8 modules · 24 lessons

1. 01

   Architecture and lifecycle

   Trace a navigation request through navigator, behavior tree, planner, controller, costmaps, and lifecycle state.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
2. 02

   Sensor layers and clearing

   Trace sensor observations through marking, clearing, range, persistence, and frame configuration.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
3. 03

   Footprints, inflation, and geometry

   Relate physical clearance to footprint radius, inflation distance, cost scaling, and map resolution.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
4. 04

   Global planning

   Inspect planner inputs, unknown space, resolution, tolerances, and search output.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
5. 05

   Controllers and critics

   Interpret velocity constraints, trajectory critics, progress checks, and command output.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
6. 06

   Behavior trees and recovery

   Trace node status, blackboard values, retries, timeouts, and recovery selection.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
7. 07

   Goal tolerances, oscillation, and safety

   Separate completion criteria, progress monitoring, oscillation detection, and protective stop behavior.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
8. 08

   Missions, docking, and operations

   Coordinate task queues, docking, charging, retries, and operator intervention around Nav2.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab