Nav2는 경로는 있지만 움직이지 않습니다: 진단 워크플로

Change parameters and verify

Open the panel, then press Run to load Python. You can stop execution and reset parameters. Results are computed on this device. No Python installation is required.

Local execution steps below are optional for reproducing the source results; they are not required for the browser experiment.

The experiment controls are in English.

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Explore footprint geometry in your browser

Change the rectangular body dimensions, corridor width, heading and lateral offset in the panel above. The diagram and signed gaps describe an exact rectangle between two infinite parallel walls. No ROS or local Python is required. The diagnostic workflow below remains separate from this geometry exercise.

The rectangle centre is the supplied reference point. World x runs along the corridor, world y points across it, and positive heading rotates counterclockwise from +x. Length L lies along body x; width B lies along body y. Walls lie at y=±W/2 and the centre at (0,e). For heading θ, the transverse span is S=L|sin θ|+B|cos θ|. The upper-wall gap is W/2−e−S/2, the lower-wall gap is W/2+e−S/2, and the minimum is W/2−|e|−S/2. Positive means separation; zero means contact; negative means overlap with a wall half-plane. These are signed transverse gaps, not general polygon-distance or costmap outputs. The numerical contact label uses a tolerance of 10⁻¹² m, not an operating margin.

The default 0.60 m width in a 0.80 m corridor gives 0.10 m on each side at zero heading and offset. Try a 30° heading, a 0.10 m offset, a 90° heading, or a wider corridor. Changing heading can move a corner into a wall even when the aligned width fits. A/B uses equal x/y scales and a common extent across both results; the table lists all four transformed corners in metres.

The dashed circle has radius R=√(L²+B²)/2. It bounds all orientations during a full rotation about the fixed rectangle centre. The minimum gap over that full rotation is W/2−|e|−R, calculated analytically rather than from sampled angles. This is not the gap for a particular requested turn, a planned swept path or a kinematically feasible manoeuvre. A 90° pose can fit while intermediate orientations overlap. The rectangle dimensions describe the entire assumed outline; there is no additional footprint padding.

All inputs are synthetic teaching choices. There are no map cells, obstacle observations, inflation costs, localization uncertainty, payload model, TF, planner, controller, velocity commands or actual Nav2 execution. A positive geometric gap does not establish passage feasibility or operating safety. The full-turn circle is an explanatory envelope, not a proposed robot_radius configuration. Nav2's tuning guide distinguishes robot footprint choices from inflation potential fields; the inflation parameters describe costs that this exercise does not compute. References reviewed 2026-09-20.

For supplied map/pose/goal checks, use the separate navigation Lab. Continue below to inspect why a real navigation stack may stop.