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In productionProadvancedMotion model

The robot cannot relocalise after a bump

Restore recovery from a displaced pose without making normal tracking unstable.

Pairs with Localisation confidence in Mobile Robot Reliability. Read the concept first, then diagnose it here.

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Operator report

After being pushed 0.4 m, the filter remains confidently wrong.

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. 01odometry motion model→
  2. 02particle proposal→
  3. 03scan updateOUT
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
  • Relocalises within 8 s
  • Normal tracking error remains bounded
  • Hidden regression behavior
  • Root cause explanation