Track Guide
Lessons
01 - System Architecture
Runtime boundaries, server roles, contracts, and end-to-end goal flow.
02 - Bringup, Lifecycle, Actions
Startup sequencing, lifecycle state transitions, action contracts, and failure patterns at bringup time.
03 - BT Navigator and XML
BehaviorTree flow, blackboard reasoning, replanning cadence, and recovery design.
04 - Costmaps and Layers
Global and local costmaps, inflation, observation layers, passability, and map semantics.
05 - Global Planning
Planner tradeoffs, path quality, compute budgets, and warehouse route selection.
06 - Local Control and Cmd Vel
Controller plugins, velocity shaping, motion quality, and downstream command-path reasoning.
07 - Localization, Odom, AMCL, EKF
The map-odom-base link contract, TF correctness, and localization-driven Nav2 failures.
08 - Recoveries and Checkers
Retry budgets, progress checking, goal checking, escalation rules, and AMR-safe recoveries.
09 - Waypoints, Docking, Zones, Missions
Route execution, semantic map behavior, docking flows, and mission-layer ownership boundaries.
10 - Parameters, Launch, Plugins
Configuration layering, launch decomposition, and when extension work is actually justified.
11 - Debugging and Bag Analysis
Structured incident triage across logs, topics, TF, costmaps, actions, and bag replay.
12 - AMR Failure Patterns and Capstone
Recurring warehouse failure modes plus a capstone root-cause-analysis framework.
13 - Senior Interview Questions
A categorized senior-level interview bank with answer guidance focused on judgment and ownership.
14 - ELI5 + Expert Q&A
Every core Nav2 concept explained simply (ELI5 analogies), then challenged at senior level with expert questions, answer guidance, and hands-on exercises.
Exercises
Exercise 01 - Bringup and Lifecycle
Validate activation order, lifecycle state, readiness checks, and startup health versus runtime health.
Exercise 02 - BT Trace and Recovery Loop
Read BT traces, distinguish symptoms from causes, and critique recovery ordering with AMR constraints.
Exercise 03 - Costmap Tuning Lab
Reason about inflation, obstacle freshness, passability, and local-versus-global tuning tradeoffs.
Exercise 04 - Planner Comparison Lab
Compare planner outputs, path quality, and AMR-specific route-selection tradeoffs.
Exercise 05 - Controller Tuning Lab
Investigate motion quality, controller plugin behavior, and command-path versus controller faults.
Exercise 06 - Localization Contract Diagnosis
Classify drift, jumps, stale TF, and low-confidence localization before blaming planning or control.
Exercise 07 - Recovery Policy Design
Design recovery policies, retry budgets, and telemetry for blocked aisles and unstable world models.
Exercise 08 - Zones, Waypoints, Missions
Model semantic routes, safe waiting, docking flows, and mission-layer responsibility boundaries.
Exercise 09 - Plugin Extension Lab
Decide when parameters and BT XML stop being enough and a plugin becomes worth the cost.
Exercise 10 - AMR Debug Capstone
Run a full multi-signal AMR incident RCA across localization, planning, control, recoveries, and mission policy.