Nav2 Troubleshooting

This page collects navigation runtime issues and debugging steps.

Outline

Nav2 starts but the robot does not move.
RViz goal is accepted but no command is published.
cmd_vel is published but the chassis does not move.
Local path oscillates.
Robot drives too slowly.
Turning fails or is too wide.
Costmap obstacles remain after moving away.
AMCL localization drifts.
Recovery behavior is not suitable for Ackermann steering.