Advanced Operations

This section covers advanced operations and configurations for the RCR Common Robotics Platform.

Advanced Procedures

Quick Reference

Custom Controllers - Advanced controller configuration
Flashing the Teensy Microcontroller - Flashing firmware to the Teensy
Performance Tuning - System optimization

Advanced Overview

Advanced operations include:

Custom Controllers - Advanced control system configuration
Flashing the Teensy Microcontroller - Flashing firmware to the Teensy 4.0
Performance Tuning - System optimization
Custom Development - Advanced software development

Prerequisites

Basic robot operation experience
Understanding of ROS2 concepts
Familiarity with Linux command line
Knowledge of robot systems

Safety Considerations

⚠️ Advanced operations require careful attention:

Always backup configurations before changes
Test changes in safe environment
Follow safety procedures
Document all modifications

Quick Reference

Advanced Commands

# Check system configuration
ros2 param list
ros2 param get /node_name parameter_name

# Monitor system performance
ros2 run rqt_graph rqt_graph
ros2 run rqt_plot rqt_plot

Development Tools

# Build custom packages
colcon build --packages-select your_package

# Test custom nodes
ros2 run your_package your_node

Getting Help

For advanced operations:

Review documentation carefully
Test in safe environment
Contact experienced users
Document your modifications

For basic operations, see Setup For troubleshooting, see Troubleshooting