Navigation · open source
Phantom floor collisions in Nav2's simulation
In the Nav2 minimal TurtleBot simulation, LiDAR rays at maximum range were reported as collisions with the floor.
- LiDAR sensor
- scan
- costmap
- planner
#26
fixed and merged upstream
- Nav2
- ROS 2
- Gazebo
- LiDAR
Problem
Navigation testing in the Nav2 minimal TurtleBot simulation showed obstacles that were not there: LiDAR rays that reached maximum range registered as hits on the floor, corrupting obstacle detection (issue #26).
Investigation
Traced the phantom hits to the simulated LiDAR sensor's configuration rather than to Nav2's costmap logic: rays that should have returned no hit were reported at the floor.
Root cause
A simulated LiDAR misconfiguration turned max-range rays into floor hits.
Fix
Corrected the sensor configuration; the fix was reviewed and merged upstream.
Outcome
Obstacle detection in the simulation is correct again for everyone who uses it to test autonomous navigation.
- → Fix merged into the ros-navigation organisation
- → False floor collisions eliminated for every user of the simulation