▸case-01 A car-like autonomous ground vehicle with an Ackermann steering setup and a minimum turning radius of 2.5 meters requires a path planner configuration in ROS2. Standard grid planners generate sharp, kinematically invalid turns. Provide the planner server YAML configuration choosing an appropriate non-holonomic path planner, explicitly setting the minimum turning radius parameter. | pass→pass | 10,994 | 34,101 | +210% | 1 | 1 | 0% | 2,182 | 2,903 | +33% | 0 | 0 | — |
▸case-02 A differential-drive warehouse robot experiences wheel slippage when taking sharp turns at top speed. Developers want a Nav2 controller setup that automatically slows down linear velocity based on path curvature, rather than using standard DWB trajectory rollouts. Provide the controller server YAML parameter file for this setup. | pass→fail | 16,541 | 17,652 | +7% | 1 | 1 | 0% | 2,687 | 3,335 | +24% | 0 | 0 | — |
▸case-03 A high-speed outdoor rover navigating at 3 m/s needs a predictive sampling-based local controller in Nav2 to evaluate thousands of candidate trajectories per second in complex dynamic obstacle fields, where DWB critics fail to look far enough ahead. Provide the YAML configuration snippet for the controller server. | pass→pass | 17,884 | 15,040 | -16% | 1 | 1 | 0% | 3,641 | 3,186 | -12% | 0 | 0 | — |
▸case-04 An indoor delivery robot gets stuck in 1.2m wide doorways because the costmap inflation layer drops off too slowly, causing global path planning to treat narrow gaps as impassable high-cost regions. The current cost_scaling_factor is set to 3.0. How should the Nav2 costmap inflation layer parameters (cost_scaling_factor and inflation_radius) be adjusted to allow navigation through narrow gaps? | pass→pass | 14,412 | 48,402 | +236% | 1 | 1 | 0% | 2,512 | 3,192 | +27% | 0 | 0 | — |
▸case-05 In a Nav2 Behavior Tree XML for goal navigation, when path computation fails due to dynamic obstacles blocking the local map, the robot should clear the costmap before retrying. Developers placed the clear costmap node in a simple <Sequence> tag, causing the navigation tree to fail prematurely when path planning succeeds. Provide the corrected Behavior Tree XML snippet. | pass→pass | 11,705 | 13,062 | +12% | 1 | 1 | 0% | 2,114 | 2,356 | +11% | 0 | 0 | — |
▸case-06 A robot needs a custom Nav2 Behavior Tree node in C++ called CheckBatteryLevel that returns success if battery level is above a threshold parameter, and failure otherwise. Developers attempt to derive from rclcpp::Node directly. Write the proper C++ class declaration inheriting from BehaviorTree.CPP. | fail→fail | 11,853 | 15,936 | +34% | 1 | 1 | 0% | 2,295 | 2,732 | +19% | 0 | 0 | — |
▸case-07 An outdoor mobile robot equipped with a 3D LiDAR requires 3D obstacle clearance persistence in its local costmap so that low-hanging branches above ground clearance are registered. Standard 2D obstacle layers drop height info. Provide the local costmap YAML plugin configuration for handling 3D point cloud obstacles. | fail→pass | 22,606 | 16,080 | -29% | 1 | 1 | 0% | 3,600 | 3,645 | +1% | 0 | 0 | — |
▸case-08 A ROS2 launch system for Nav2 starts up navigation nodes individually, but bt_navigator crashes on launch because navigation servers are not brought up to their active state automatically. Write the YAML configuration for the lifecycle management node in Nav2. | fail→pass | 16,497 | 7,743 | -53% | 1 | 1 | 0% | 1,069 | 1,727 | +62% | 0 | 0 | — |
▸case-09 A differential-drive robot reaches near its target goal pose but starts oscillating back and forth rapidly without coming to a complete stop. Developers attempt to fix this by increasing max velocity. Provide the YAML configuration snippet for the DWB local planner critic parameter that penalizes rapid directional oscillation. | pass→pass | 19,916 | 9,461 | -52% | 1 | 1 | 0% | 3,922 | 2,065 | -47% | 0 | 0 | — |
▸case-10 A patrolling security robot needs to execute inspection tasks at a series of GPS waypoints using Nav2's waypoint follower. Instead of proceeding immediately to the next pose, it must pause for 5 seconds at each pose. Provide the YAML configuration for the waypoint follower task executor. | fail→fail | 16,902 | 11,271 | -33% | 1 | 1 | 0% | 1,510 | 2,124 | +41% | 0 | 0 | — |
▸case-11 An indoor AGV operating in open warehouse environments requires smooth, continuous, any-angle straight-line paths rather than grid-constrained 8-connected paths. Provide the YAML configuration for the Nav2 planner server selecting an any-angle grid planner. | pass→pass | 12,053 | 8,498 | -29% | 1 | 1 | 0% | 2,001 | 1,895 | -5% | 0 | 0 | — |
▸case-12 The global costmap in Nav2 fails to populate obstacles from map_server because the static layer plugin is looking for /map topic, whereas map_server publishes on /global_map. Show the global costmap YAML configuration snippet mapping the static layer input topic parameter. | pass→pass | 6,394 | 5,526 | -14% | 1 | 1 | 0% | 1,246 | 1,364 | +9% | 0 | 0 | — |
▸case-13 When a robot gets stuck, the Nav2 behavior server executes a recovery spin. Currently it attempts a full 360-degree rotation, but in tight corridors this collides with side walls. Show the YAML configuration for the spin behavior in the behavior server restricting the rotation angle to 1.57 radians. | fail→fail | 6,294 | 8,170 | +30% | 1 | 1 | 0% | 1,142 | 1,833 | +61% | 0 | 0 | — |
▸case-14 A moving pedestrian walks across a robot's path and leaves temporary obstacle pixels in the local costmap long after walking away. Developers forgot to enable raytracing on the laser obstacle layer. Provide the local costmap obstacle layer parameters enabling raytracing to clear dynamic obstacles. | pass→pass | 9,320 | 6,635 | -29% | 1 | 1 | 0% | 1,788 | 1,558 | -13% | 0 | 0 | — |
▸case-15 A Nav2 project updated to ROS2 Jazzy, and the Behavior Tree XML files produce parsing errors because the format version attribute is missing from the root tag. Provide the XML root tag structure for BehaviorTree.CPP v4 used in modern Nav2. | pass→pass | 5,317 | 8,670 | +63% | 1 | 1 | 0% | 1,035 | 1,880 | +82% | 0 | 0 | — |
▸case-16 A hybrid robot needs two planners registered simultaneously in planner_server: a fast grid planner for open areas (aliased as GridBased) and a Smac Hybrid-A* planner for tight docking (aliased as DockPlanner). Provide the YAML configuration snippet for planner_server registering both plugins. | pass→pass | 6,998 | 8,857 | +27% | 1 | 1 | 0% | 1,416 | 1,986 | +40% | 0 | 0 | — |
▸case-17 A robot entering a hazardous slowdown zone needs its maximum velocity dynamically constrained by a speed filter topic published to Nav2 controller server. Provide the YAML parameter snippet for controller_server configuring the speed limit topic. | pass→pass | 6,220 | 8,792 | +41% | 1 | 1 | 0% | 1,119 | 1,914 | +71% | 0 | 0 | — |
▸case-18 I need to write an STM32 C++ firmware application using micro-ROS to read quadrature encoders on TIM2 and drive a dual H-bridge motor controller via PWM output pins. How should this micro-ROS hardware driver be integrated into my Nav2 Behavior Tree XML? | fail→pass | 27,879 | 26,673 | -4% | 1 | 1 | 0% | 4,229 | 5,448 | +29% | 0 | 0 | — |
▸case-19 Our indoor robot's stereo camera has severe radial lens distortion (k1, k2 parameters). Provide the Nav2 costmap configuration YAML settings to calculate the camera intrinsic matrix and compute image rectified transformations. | pass→pass | 30,503 | 16,400 | -46% | 1 | 1 | 0% | 2,939 | 3,580 | +22% | 0 | 0 | — |
▸case-20 A mobile manipulator robot needs to compute a 6-DOF collision-free joint trajectory for its robotic arm to pick up an object from a shelf. Should we configure this arm trajectory solver inside planner_server in Nav2 parameter YAML using nav2_navfn_planner/NavfnPlanner? | pass→pass | 11,532 | 13,049 | +13% | 1 | 1 | 0% | 2,043 | 2,271 | +11% | 0 | 0 | — |
▸case-21 High-resolution point cloud topics from our 3D LiDAR are dropping UDP packets over WiFi. Provide the Nav2 Behavior Tree XML node to modify the Fast-DDS XML transmit queue buffers and shared memory transport profile. | pass→pass | 954,664 | 19,858 | -98% | 1 | 1 | 0% | 4,016 | 4,132 | +3% | 0 | 0 | — |
▸case-22 A non-circular rectangular robot (0.8m length x 0.5m width) is constantly bumping into obstacles when using robot_radius: 0.4 in local costmap because corner swings are ignored. Show the YAML parameter key and format required in local_costmap to define the exact 2D polygonal boundary instead of a circular radius. | pass→pass | 6,745 | 5,666 | -16% | 1 | 1 | 0% | 1,467 | 1,344 | -8% | 0 | 0 | — |
▸case-23 During navigation failures, the robot triggers a Wait recovery action. By default, it pauses for 5 seconds, but in high-traffic hallways we want it to wait for 10 seconds to allow obstacles to clear. Provide the behavior_server YAML snippet for configuring the wait duration. | pass→pass | 5,059 | 6,680 | +32% | 1 | 1 | 0% | 987 | 1,350 | +37% | 0 | 0 | — |