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In productionProbeginnerMotor limits

The robot climbs an impossible ramp

Make the simulation respect the documented drive torque without changing ramp geometry.

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

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Operator report

The simulated AMR accelerates up a 25-degree ramp that hardware cannot climb.

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. 01controller command→
  2. 02joint effort limit→
  3. 03wheel-ground contactOUT
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
  • Torque remains bounded
  • Robot fails the impossible ramp
  • Hidden regression behavior
  • Root cause explanation