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In productionintermediateCollision geometry

The planner clips shelving corners

Correct collision checking without inflating every obstacle globally.

Pairs with Robot geometry and physical model in Mobile Robot Reliability. Read the concept first, then diagnose it here.

Open repair workspace

Operator report

The visual robot clears a shelf, but its rear battery box collides during turns.

Ubuntu 24.04, ROS 2 Jazzy, Gazebo Harmonic, RViz telemetry, differential-drive warehouse robot

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01physical chassis→
  2. 02Nav2 footprint→
  3. 03collision checkerOUT
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
  • Footprint encloses chassis
  • Corner route completes collision-free
  • Hidden regression behavior
  • Root cause explanation