Routine Maintenance

This guide covers regular maintenance procedures for the RCR Common Robotics Platform.

Maintenance Schedule

Daily Maintenance

  • Visual inspection

  • Sensor cleaning

  • Connection check

Weekly Maintenance

  • Battery check

  • System test

  • Log review

Monthly Maintenance

  • Full system inspection

  • Calibration check

  • Performance review

Quarterly Maintenance

  • Deep cleaning

  • Component replacement

  • Software updates

Daily Maintenance

1. Visual Inspection

Check for Damage

  • Inspect chassis for cracks or damage

  • Check wheels for wear or damage

  • Look for loose screws or bolts

  • Verify sensor mounting

Connection Check

  • Ensure all cables are secure

  • Check for damaged cables

  • Verify power connections

  • Test USB connections

2. Sensor Cleaning

LiDAR Cleaning

# Power off robot first
# Clean LiDAR lens with soft cloth
# Remove any obstructions
# Check for scratches or damage

Camera Cleaning

  • Clean camera lens

  • Remove dust and debris

  • Check for condensation

  • Verify clear view

IMU Cleaning

  • Clean mounting surface

  • Check for vibration

  • Verify secure mounting

3. System Check

Power System

# Check battery voltage
# Verify power indicators
# Test power switch
# Check for loose connections

Communication Test

# Test USB connections
# Verify serial communication
# Check network connectivity

Weekly Maintenance

1. Battery Maintenance

Voltage Check

  • Measure battery voltage

  • Check for voltage drop under load

  • Verify charging system

  • Test battery capacity

Battery Care

  • Clean battery terminals

  • Check for corrosion

  • Verify proper storage

  • Monitor charging cycles

2. System Testing

Full System Test

# Launch robot system
ros2 launch common_platform launch_robot.launch.py

# Test all sensors
ros2 topic echo /${ROS_NAME}/scan
ros2 topic echo /${ROS_NAME}/camera/image_raw
ros2 topic echo /${ROS_NAME}/imu/data

# Test motor system
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{}"

Performance Check

  • Monitor system performance

  • Check for errors

  • Verify response times

  • Test navigation capabilities

3. Log Review

System Logs

# Check system logs
journalctl -u ros2

# Review error logs
grep -i error /var/log/syslog

# Check ROS2 logs
ros2 log list

Monthly Maintenance

1. Full System Inspection

Hardware Inspection

  • Complete visual inspection

  • Check all mounting points

  • Verify component alignment

  • Test all connections

Software Inspection

  • Check for updates

  • Verify configuration files

  • Review performance metrics

  • Test all functionality

2. Calibration Check

Sensor Calibration

  • Verify IMU calibration

  • Check LiDAR alignment

  • Test camera calibration

  • Verify odometry accuracy

System Calibration

  • Test motor performance

  • Check encoder accuracy

  • Verify sensor fusion

  • Test navigation accuracy

3. Performance Review

Metrics Collection

  • Document performance data

  • Track error rates

  • Monitor battery life

  • Record maintenance issues

Quarterly Maintenance

1. Deep Cleaning

Complete Disassembly

  • Remove all sensors

  • Clean all components

  • Check for wear

  • Replace worn parts

Reassembly

  • Reassemble with care

  • Verify all connections

  • Test all systems

  • Update documentation

2. Component Replacement

Wear Items

  • Replace worn wheels

  • Update filters

  • Check bearings

  • Replace cables if needed

Preventive Replacement

  • Replace aging components

  • Update firmware

  • Check for recalls

  • Plan upgrades

3. Software Updates

System Updates

# Update system packages
sudo apt update && sudo apt upgrade

# Update ROS2 packages
rosdep update
rosdep install --from-paths src --ignore-src -r -y

# Rebuild workspace
colcon build

Firmware Updates

  • Check for firmware updates

  • Update robot firmware

  • Update sensor firmware

  • Test all updates

Maintenance Records

Documentation

Maintenance Log

  • Date and time

  • Performed tasks

  • Issues found

  • Parts replaced

  • Next maintenance due

Performance Log

  • System performance

  • Error rates

  • Battery life

  • Usage statistics

Tracking

Maintenance Schedule

  • Track maintenance intervals

  • Plan future maintenance

  • Order parts in advance

  • Schedule downtime

Troubleshooting

Common Issues

Battery Problems

  • Check voltage levels

  • Verify charging system

  • Test under load

  • Replace if necessary

Sensor Issues

  • Clean sensors

  • Check connections

  • Verify calibration

  • Test individually

Communication Problems

  • Check cables

  • Verify connections

  • Test communication

  • Replace if needed

Safety During Maintenance

Safety Guidelines

  • Always power off before maintenance

  • Use appropriate tools

  • Follow safety procedures

  • Document all work

Emergency Procedures

  • Know emergency contacts

  • Have backup plans

  • Keep spare parts

  • Document procedures

For startup procedures, see Startup Procedure For shutdown procedures, see Shutdown Procedure For troubleshooting, see Troubleshooting