Trace gyro units from native IMU output to ROS angular_velocity, verify conversion once and keep angular-velocity covariance consistent before fusion tuning.
Category: Robotics LiDAR
A LiDAR Robot’s Pose Starts at Zero but Drifts Differently: Compare Relative and Differential Fusion
Compare relative and differential robot_localization pose handling, initial references, velocity conversion and restart behavior without hiding input provenance.
Global Position Corrections Move a LiDAR Robot’s Local Odometry: Audit world_frame
Audit robot_localization world_frame, continuous local odometry and global position corrections before changing transforms or fusion tuning on a LiDAR robot.
The Nav2 Costmap Looks Slow in RViz: Separate Updates From Publication
Separate Nav2 costmap update cadence from published visualization traffic before changing frequencies, full-map settings or LiDAR pipeline parameters.
Voxel Filtering Changes LiDAR Ring and Time Fields: Audit Field Aggregation
Audit LiDAR ring and timestamp fields through PCL voxel filtering, point-type conversion and aggregation before passing downsampled clouds to another consumer.
A Replayed LiDAR Map Is Missing for Late Subscribers: Audit rosbag2 Durability
Diagnose a recorded map missing during rosbag2 playback by separating bag contents, playback QoS, subscriber startup order and publisher lifetime.
LiDAR NaNs Survive a PCL Cleanup: Verify the is_dense Contract
Trace invalid LiDAR coordinates through PCL cleanup, verify the is_dense flag, preserve point indices and test the actual finite-value filtering path.
ROS Camera Colors Are Swapped: Audit Encoding Before Pixel Conversion
A practical workflow for locating incorrect camera color interpretation across drivers, bridges and display consumers.
LiDAR Driver Ignores a ROS 2 YAML File: Verify Node Scope and Effective Parameters
Diagnose ignored LiDAR parameter files by checking actual paths, node names, YAML scope, declared types and running-node parameter readbacks.
Jetson Camera Frame Rate Drops After Mode Selection: Verify Exposure and Effective Controls
Check Jetson camera frame-rate drops using the selected sensor mode, effective exposure controls, capture metadata and identified timing boundaries.
