A structured audit of synthetic ROS2 bag exports that measures topic health, detects planted anomalies independently, and separates evidence from candidate causes.
Public · synthetic demoRate drops, dropout gaps, clock skew, sensor-range violations, command/odometry disagreement, and missing transforms need one evidence-graded report before anyone diagnoses the robot.
/scan rate drop: 10Hz → ~4Hz, t=[20, 30] /odom dropout gap: ~3s, t=[15, 18] /imu header stamp ~0.15s behind receive time /battery voltage out-of-range dip, t=37 /cmd_vel commands motion while /odom stays ~0, t=[25, 29] /tf odom → base_link disappears, t=[33, 43]
| section | findings |
|---|---|
| Confirmed evidence | 5 |
| Likely causes | 1 |
| Unverified hypotheses | 1 |
| Additional data required | 3 |
The auditor does not read the planted-case list. It surfaces evidence and candidate causes only; it does not confirm root cause. The full separation lives in audit_report.md.
This is a synthetic bag audit, not a robot diagnosis. “Likely causes,” “Unverified hypotheses,” and “Additional data required” remain explicitly separate because one bag cannot establish root cause.