A straight-line check does not qualify rotation. Trace the swept body, visible targets, selected monitor zone and command response before accepting angular-motion coverage.
Category: Robotics LiDAR
LiDAR Navigation Fails After a Node Restart: A Lifecycle and Recovery Checklist
A restarted process does not prove navigation is active. Trace sensor output, subscriptions, TF, managed states, bonds and the final command path after a controlled restart.
Nav2 Stops When LiDAR Data Goes Stale: Trace the Collision Monitor Watchdog
Separate stale input from subscription, clock and transform problems. Preserve Collision Monitor stop behavior while testing the exact source and command boundaries.
LiDAR and Camera Optical Frames: Diagnose Rotated or Mirrored Sensor Overlays
Check frame conventions and the projection chain before collecting another calibration dataset. Use asymmetric targets and intermediate coordinates to isolate interpretation errors.
PointCloud-to-LaserScan Returns Only Infinity: A Projection Diagnostic
Trace the first projection stage that rejects a known target. Distinguish no messages, empty scan bins, and downstream rejection before replacing a working LiDAR.
TF Extrapolation Errors in a LiDAR Robot: Compare Sensor Time and Transform Availability
Separate clock mismatch from transform arrival and history problems. Preserve error timestamps, inspect the listener, and validate a correction without hiding stale geometry.
A LiDAR Support Bundle That Engineers Can Reproduce: Configuration, Captures and Versions
Give another engineer enough evidence to reproduce a LiDAR fault. Organize versions, topology, bounded captures, timing context, and a sanitized, testable handoff.
LiDAR Driver Updates: A Regression Checklist for Point Fields and Timestamp Semantics
Check message contracts before deploying a LiDAR driver revision. Preserve baseline evidence, compare field and time semantics, and validate consumers on fixed inputs.
Nav2 Point Clouds Arrive but No Obstacles Appear: Trace the Observation Pipeline
A boundary-by-boundary diagnostic for a valid PointCloud2 that never produces Nav2 occupied cells, with a stationary target test and evidence worksheet.
Nav2 Misses Overhanging Obstacles: Set and Test the 3D LiDAR Height Window
A source-to-grid diagnostic and measured target-height matrix for overhanging obstacles visible in LiDAR but missing from a Nav2 costmap.
