Robot Data and Hardware

Design multi-robot task allocation with feasibility filters, completion cost, congestion, charging, priorities, stable reassignment and fleet tests.

Understand global planners and local controllers in mobile robots, with path, command, progress, goal and replanning tests for Nav2 systems.

Design and test Nav2 behavior tree recovery with contextual errors, RecoveryNode retry limits, progress checks, logging and safe escalation.

Configure and test Nav2 costmap layers: static, obstacle, voxel, inflation and keepout filters, with footprint, timing and failure checks.

Compare URDF and SDFormat for robot links, joints, frames, sensors, physics and worlds, and learn how to validate model conversion in Gazebo.

Design robot time synchronization with PTP, NTP and hardware timestamps by checking clock domains, offset, drift, jitter, load and recovery.

Use rosbag2 reliably by checking topic coverage, QoS, timestamps, burst throughput, storage, compression, clock behavior and safe playback.

Design ROS 2 lifecycle nodes for robot startup, shutdown and recovery with readiness gates, safe inactive behavior, supervisors and fault tests.

Understand ROS 2 executors and callback groups, then diagnose blocking, deadlocks, hidden serialization, wait time and missed robot deadlines.

Learn ros2_control hardware interfaces, Resource Manager, Controller Manager, read-update-write loops, controller claims and commissioning tests.