AUTONOMOUS NAVIGATION — TEST AND DIAGNOSIS RECORD
Yenra | Version 2026-09-07 | https://yenra.com/rbts/vehicle.html

Purpose: trace a navigation failure to the earliest inconsistent observation.
Use simulation or a supervised restricted area with an established stop
procedure appropriate to the equipment. This record is not a safety approval.

SETUP
Owner / date / robot / software version:
Map and configuration revision:
Footprint, carried load and sensor mounting:
Coordinate frames, distance units and time reference:
Start pose / goal pose (position AND orientation):
Surface, lighting, moving objects and other conditions:
Stop procedure and responsible observer:

SUCCESS CRITERIA — define before testing
Accepted position error (m) and orientation error (degrees):
Maximum duration (s):
Allowed interventions / unavailable-route response:

EVIDENCE CHAIN
Stage | Expected | Observed | Timestamp | File/record
Pose estimate and uncertainty:
Raw sensor observation:
Observation in map/costmap:
Planned path and goal:
Motion command:
Observed motion and faults:
Recovery / wait / operator request:

TRIALS
Run | Outcome | Duration s | Position error m | Heading error deg | Intervention
1   |         |            |                  |                   |
2   |         |            |                  |                   |
3   |         |            |                  |                   |

Illustrative geometry: 1.00 m doorway, 0.50 m robot, centered and square.
Nominal side clearance=(1.00-0.50)/2=0.25 m. A 0.10 m lateral error
leaves 0.15 m on one side. This is static arithmetic, not a clearance
specification; include swept geometry, load, tracking error and uncertainty.

Illustrative outcomes: 8 autonomous completions / 10 trials = 80%.
Report all outcomes. Summarize successful durations separately and identify
the population used; do not silently omit interventions from reliability.

FIRST INCONSISTENCY / HYPOTHESIS:
Single change and expected effect:
Repeat scenario and result:
Remaining uncertainty / owner / next evidence:

Primary architecture references:
https://docs.nav2.org/jazzy/getting_started/navigation_concepts/navigation_servers/
https://docs.nav2.org/rolling/getting_started/navigation_concepts/state_estimation/
https://docs.nav2.org/jazzy/getting_started/navigation_concepts/environmental_representation/