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In productionProadvancedBehavior tree blackboard

Recovery resumes toward the old goal

Make replanning consume the operator's updated destination.

Pairs with Behavior trees and recovery in Nav2 Incident Response. Read the concept first, then diagnose it here.

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Operator report

After a blocked-aisle recovery, the robot drives toward the previous goal.

Ubuntu 24.04, ROS 2 Jazzy, Nav2, Gazebo Harmonic, warehouse mission simulator

01

System boundary

Trace only the relevant path.

3 nodes
  1. 01new action goal→
  2. 02blackboard key→
  3. 03recovery replannerOUT
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
  • Replanner uses current goal
  • Old goal cannot reappear
  • Hidden regression behavior
  • Root cause explanation