ROS 2 Systems Debugging

Outcome

What you will be able to do

Trace failures across processes, names, topics, QoS, configuration, time, and callback execution without guessing.

Build

What you will produce

A verified warehouse incident report with a repaired ROS graph and reproducible evidence bundle.

• ROS graph diagnosis
• QoS reasoning
• TF timing
• Launch configuration
• Executor analysis
• Incident reconstruction

Sample incident

The node appears missing

Determine why `/scan_filter` is absent without reinstalling or rebuilding the workspace.

Full syllabus

8 modules · 24 lessons

1. 01

   Evidence before editing

   Bound the failing system, separate observations from assumptions, and choose the smallest useful diagnostic command.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
2. 02

   Nodes, names, and namespaces

   Trace fully qualified names through launch scopes, remaps, and component containers.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
3. 03

   Topics and message flow

   Separate discovery, publication, transport, and callback processing using rate and type evidence.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
4. 04

   QoS policies

   Reason about reliability, durability, history, depth, and rate as an endpoint contract.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
5. 05

   Parameters and launch

   Trace configuration ownership through YAML roots, namespaces, launch substitutions, and override order.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
6. 06

   Time and TF

   Relate message stamps, simulation clocks, transform publication, and buffer windows.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
7. 07

   Executors and callback timing

   Inspect callback queues, blocking work, callback groups, and executor thread availability.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab
8. 08

   Bags, logs, and reconstruction

   Capture reproducible evidence, align clocks, and reconstruct an incident timeline from multiple sources.

   Learn the concept, then prove it in two labs:

   Guided lab Independent lab