PASS map_server: all 1200 cells match the authored PGM and YAML
PASS global costmap: all 1200 raw cost bytes match independent geometry and inflation formula
PASS requests: supplied start and both goals are free under floor and NavFn rounded indexing
PASS reachable: accepted, SUCCEEDED, error 0; 59 path poses
PASS geometry: every segment and the start connector clear occupied cells by at least 0.12 m and keep that disk clear of unknown cells
PASS disconnected: accepted, ABORTED, error 208 (NO_VALID_PATH), empty path
PASS configuration: active lifecycle states, loaded parameters, footprint and unchanged grids checked
PASS cleanup: map server and planner server exit normally after lifecycle cleanup
ARTIFACTS /results/final-1