Reference capstone
Warehouse Delivery AMR
Reference capstone report for a simulated AMR repaired across sensor, odometry, costmap, controller, and drive incidents.
- Repairs verified
- 5
- Checks recorded
- 6
- Completion
- 2026-07-19
- Visibility
- Public
Demonstrated repairs
Verified incident work
- 01LiDAR frame correctionPassed
- 02Wheel radius calibrationPassed
- 03Costmap topic repairPassed
- 04Controller limit repairPassed
- 05Drive fault recoveryPassed
Causal analysis
Root cause explanation
The LiDAR transform yaw was rotated by 180 degrees, mirroring obstacles in the costmap.
Wheel geometry in the odometry model did not match measured hardware dimensions.
The costmap subscriber requested reliable QoS while the simulated sensor published best effort.
Verification
Recorded checks
- Build passed
- TF tree valid
- Costmap obstacle side correct
- Controller limits valid
- Robot reached target
- Root cause explanations submitted