Solve a Problem¶
This is the problem-first front door for the site. The goal is to get a reader from an immediate robotics problem to useful answers, then outward into nearby ideas worth understanding next.
Common Starting Points¶
Navigation Feels Opaque¶
- Start here: Note: Nav2 Architecture
- Then branch into planners, controllers, costmaps, behavior trees, or recovery.
The Robot Moves Badly¶
- Start here: Note: Choosing a Nav2 Controller
- Then branch into path-tracking metrics, planner choice, or motion smoothing.
Localization Is Unstable¶
- Start here: Note: Localization Recovery
- Then branch into AMCL, sensor fusion, frame discipline, or mapping.
URDF and TF Are Confusing¶
- Start here: Note: URDF and Frames
- Then branch into
robot_state_publisher, xacro, extrinsics, or base frame conventions.
Simulation Is Misleading or Brittle¶
- Start here: Note: Gazebo Physics and Simulation Truth
- Then branch into world building, simulated sensors, and ROS/Gazebo bridging.
The Workspace Itself Keeps Biting You¶
- Start here: Note: Workspace Bootstrap and Build Hygiene
- Then branch into overlays, rosdep, package structure, and startup discipline.
Desktop and Robot Bringup Keep Diverging¶
- Start here: Note: Jazzy Bringup Across Desktop and SBC
- Then branch into ROS installation, Raspberry Pi setup, device access, and boot discipline.
Outdoor Navigation Falls Apart¶
- Start here: Note: Outdoor GPS and RTK Navigation
- Then branch into GNSS fusion, IMU integration, odometry quality, and RTK operations.
Base Control Feels Fragile¶
- Start here: Note: Diff-Drive Base Control
- Then branch into ros2_control, serial protocols, odometry math, and watchdog design.
Close-Range Sensing Still Misses Obstacles¶
- Start here: Note: Close-Range Sensing and Ultrasonic Safety
- Then branch into ultrasonic timing, MCU reporting, emergency stop logic, and Nav2 range-layer integration.
I Need a Custom Behavior Tree Node¶
- Start here: Note: Custom Behavior Tree Plugins
- Then branch into ports, plugin registration, XML wiring, and Nav2 integration choices.
ROS 2 Breaks When I Move To Two Machines¶
- Start here: Note: Robot Networking and Multi-Machine ROS 2
- Then branch into DDS domain boundaries, Wi-Fi assumptions, VPN setup, and desktop-to-robot discovery.
The Robot Runs But Health Is Opaque¶
- Start here: Note: Robot Health and Diagnostics
- Then branch into diagnostics aggregation, health dashboards, watchdogs, and incident review.
The Control Stack Needs Cleaner Boundaries¶
- Start here: Note: ros2_control Architecture
- Then branch into hardware interfaces, controller manager boundaries, simulator integration, and drivetrain examples.
The Team Needs Better Visualization Workflows¶
- Start here: Note: Visualization and Telemetry Workflows
- Then branch into RViz discipline, Foxglove workflows, rosbag analysis, and diagnostics dashboards.
Timestamps Keep Breaking The Pipeline¶
- Start here: Note: Timestamps and Sensor Synchronization
- Then branch into ROS time, message_filters, multi-machine assumptions, and fusion quality.
The Robot Slows Down Only Under Real Load¶
- Start here: Note: Performance Debugging and Tracing
- Then branch into profiling, callback latency, executor contention, and multi-machine timing assumptions.
Sensor Calibration Keeps Poisoning The Stack¶
- Start here: Note: Robot Calibration Workflows
- Then branch into camera intrinsics, wheel odometry calibration, IMU setup, and multi-sensor extrinsics.
Docking And Indoor Policy Are Becoming Navigation Problems¶
- Start here: Note: Docking and Semantic Navigation
- Then branch into docking, keepout zones, speed limits, and map-anchored policy.
The Map Keeps Changing After Deployment¶
- Start here: Note: Map Lifecycle and Field Updates
- Then branch into map server behavior, map saving, lifelong mapping, and rollout discipline.
How This Part of the Site Works¶
- Notes are short wayfinding pages.
- They are meant to reduce clicks from problem to likely answer.
- They also surface nearby learning opportunities, not just the narrow fix.