Diagnose ROS2 sentry auto-aim issues across visual solving, tracker, predictor, behavior_tree, and gimbal links with evidence-first workflow. Use when users report laggy gimbal follow, over-smoothing, wrong no-target behavior, target switch delay, or suspect BT/topic-chain faults.
Use this skill to identify root cause in detector -> tracker_solver -> predictor -> behavior_tree -> gimbal_driver without broad refactor or blind parameter sweeping.
Always prefer launch/config/code evidence first, then runtime topic/param verification, then minimal-change recommendations.
Resolve actual startup path first:
scripts/start.sh / scripts/launch/*.shsrc/behavior_tree/launch/*.launch.pyWhen checking mode differences, explicitly compare:
debug_bypass_is_startmode, competition_profile, bt_config_fileuse_behavior_tree, offlineTreat as predictor/tracker issue first if:
/ly/predictor/target correctlyTreat as BT issue first if:
/ly/control/angles diverges from predictor output even when predictor is freshStopScan, ReuseLatchedAnglesOnNoTarget, chase/lost-target settings)Treat as topic-chain issue first if:
Prioritize these checkpoints:
publish_only_on_new_tracker_frame, freshness requirement)StopScan, latched reuse, hold-current logic)/ly/control/angles producer and final writer)Load this reference when tuning:
references/tuning-and-diagnosis.mdRespond in this order:
Never claim "BT issue" or "predictor issue" without a direct chain of evidence.