Startup Procedure

This document outlines the proper procedure for starting up your RCR Common Robotics Platform.

Pre-Startup Checklist

Before starting the robot, verify:

  • [ ] Battery is charged

  • [ ] All connections are secure

  • [ ] Robot is in a safe operating environment

  • [ ] Emergency stop is accessible

  • [ ] No obstacles in immediate area

Power On

  • Add batteries to Teensy

  • Connect Pi Battery

  • Turn on main Teensy power switch

  • Verify Teensy and Pi power LED indicators are on

System Initialization

Controller Boot

  • Wait for controller to complete boot sequence

  • Verify boot messages on console (if available)

  • Check for any error messages

Sensor Initialization

  • LiDAR should begin spinning

  • Camera should initialize

  • IMU should calibrate automatically

Software Launch

ROS2 Launch

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

Open a new terminal window 📟

Verify Topics

# Check that all expected topics are publishing
ros2 topic list

Check Node Status

# Verify all nodes are running
ros2 node list

System Verification

Sensor Data

  • Verify LiDAR data is being published

  • Check camera feed

  • Confirm IMU data is available

Motor System

  • Test motor responsiveness

  • Verify encoder data

  • Check for any unusual sounds

Navigation System

  • Confirm localization is working

  • Check map loading (if applicable)

  • Verify path planning capabilities

Expected Startup Time

  • Hardware initialization: 10-15 seconds

  • Software launch: 30-60 seconds

  • Full system ready: 1-2 minutes

Troubleshooting Startup Issues

Common Problems

Battery Check

# Check battery voltage (should be >9V)
# Connect multimeter to battery terminals

Discovery Server Running

  • Ensure a ROS discovery server is running before starting robot operations

  • See Discovery Server Setup for detailed setup instructions

  • If at Rose City Robotics Lab, a discovery server is already running on the network

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