Skip to content

Sim benchmark report

  • generated (UTC): 20261103T181855Z
  • git commit: e0ab311
  • trials per world: 2
  • goal order: pickup,dropoff,home
  • wheel_mu: 1.0
  • nav2 params: mote_bringup/config/nav2_params.yaml
  • ROS_DOMAIN_ID: 34

office_world.sdf

  • map revision: 20260708T000623
  • map: mote_simulation/sim_home/sites/office_world/floors/ground/map/map.yaml
  • successful trials: 2/2
metric mean std min max CV
goal success rate 1.000 0.000 1.000 1.000 0.0%
time-to-goal mean (s) 84.9 1.2 83.7 86.1 1.4%
ATE rmse (m) 0.103 0.002 0.101 0.105 2.1%
ATE max (m) 0.262 0.041 0.221 0.304 15.8%
odom ATE rmse (m) 0.036 0.001 0.035 0.037 2.4%
odom ATE max (m) 0.106 0.003 0.103 0.109 2.5%
min clearance (m) 0.159 0.006 0.152 0.165 4.1%
mean clearance (m) 0.736 0.008 0.728 0.744 1.1%
linear jerk rms 34.66 8.21 26.45 42.87 23.7%
direction reversals 0.0 0.0 0.0 0.0 —
recoveries total 0.0 0.0 0.0 0.0 —
aborts 0.0 0.0 0.0 0.0 —
est path length (m) 48.58 0.28 48.31 48.86 0.6%
per-trial | trial | goals ok | ATE rmse (m) | odom ATE (m) | min clr (m) | recoveries | aborts | | --- | --- | --- | --- | --- | --- | --- | | 0 | 3/3 | 0.101 | 0.035 | 0.152 | 0 | 0 | | 1 | 3/3 | 0.105 | 0.037 | 0.165 | 0 | 0 |

Notes

  • Localization error is ATE (truth vs estimate) after a rigid SE(2) alignment — the SLAM map frame and the Gazebo world frame do not share a fixed transform, so alignment is required before differencing.
  • Ground truth is the robot's true pose bridged from Gazebo's PosePublisher (/model/mote/pose, gz.msgs.Pose → PoseStamped).
  • Recovery counts are distinct goal IDs seen on the behavior-server action status topics (/spin, /backup, /drive_on_heading, /wait) — a best-effort proxy for how often Nav2 recovered.
  • CV = coefficient of variation (std/mean); the run-to-run variance to weigh when comparing two configs.