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In productionProintermediateInvalid sensor data

Empty space fills with obstacles

Remove false obstacles without discarding valid close returns.

Pairs with LiDAR data and sensor timing in Mobile Robot Reliability. Read the concept first, then diagnose it here.

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Operator report

The costmap shows a ring of obstacles at the sensor origin.

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. 01invalid LiDAR return→
  2. 02filter substitution→
  3. 03obstacle layerOUT
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
  • Origin ring disappears
  • Valid near returns remain
  • Hidden regression behavior
  • Root cause explanation