⚙️ Configuration

This section explains how to configure your LIMO Robotics system for smooth operation and robust development.

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🌍 Environment Variables Setup

LIMO's launch system is designed for auto-detection and minimal manual configuration.
Most variables are handled for you! But for advanced use, here's what you might need:

Variable	Purpose	Default / Example	Where Set
M5_IP	MyCobot Arm WiFi IP address	192.168.137.75 (auto-set)	Launch file/env variable
ROS_DOMAIN_ID	ROS2 Domain for network isolation	Usually 0	.bashrc or terminal
MAP_FILE	Map file path for navigation	/home/agilex/krish_ws/maps/map11.yaml	Launch file
YOLO_WEIGHTS	Path to YOLO weights	Set in object_detector.py	Config file/launch

How to Set

• Temporary (current terminal):

  export M5_IP=192.168.137.75

• Persistent (all terminals):
  Add to ~/.bashrc or ~/.bash_profile

  echo 'export M5_IP=192.168.137.75' >> ~/.bashrc
  source ~/.bashrc

Do I Need This?

In most cases, the launch files set everything for you!
Only set variables manually if you're debugging, developing, or using custom hardware.

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🚀 Launch Files Configuration

• Main launch:
  full_system.launch.py
  • Auto-detects MyCobot IP on your subnet
  • Brings up robot, camera, navigation, object detector, and mission manager
  • Uses TimerAction to ensure components start in the correct order (critical for real robots!)

Example: full_system.launch.py

limo_start = IncludeLaunchDescription(...)
camera_launch = IncludeLaunchDescription(...)
nav2 = ExecuteProcess(...)
pose_setter = Node(...)
yolo_node = Node(...)
mission_manager = Node(..., additional_env={"M5_IP": detected_ip})

Pro Tip

Launching with:

ros2 launch nav_handler full_system.launch.py

automatically configures IPs, starts all nodes, and opens up RQT for visual feedback.

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🔌 Hardware Connections

LIMO Pro robot: battery charged, safety on

MyCobot Arm:

• Connect to WiFi "MyCobotWiFi2.4G", password: mycobt123
• Arm's IP is detected by code—no need for static assignment!

Orbbec DaBai Camera:

• Plug into USB 3.0 (blue port)
• Detected by orbbec_camera launch

PC/Laptop:

• Must be on the same network/subnet as robot and arm

Quick Checklist

• Robot powered on
• MyCobot hotspot running and arm on
• Camera connected
• PC on same network
• Use ros2 launch nav_handler full_system.launch.py to start everything

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🎚️ Parameter Tuning

Many nodes support parameter tuning to optimize performance:

YOLO detector:

• Detection confidence (conf=0.5)
• Depth thresholds (MIN_DEPTH_METERS, MAX_DEPTH_METERS)
• Approach distance to object (APPROACH_DIST)
• Camera intrinsics (auto-set from camera info)

Navigation:

• Map file, costmap configs, waypoint lists
• Initial pose (set by pose_setter.py)

How to Tune

Edit parameters in the relevant Python or YAML config file:

object_detector.py

MIN_DEPTH_METERS = 0.15
MAX_DEPTH_METERS = 4.0
APPROACH_DIST = 0.30

Or use ROS2 param system for launch-time tuning.

Where to Find Parameters

• Object detection: object_detector.py
• Arm control: pick_node.py, drop_node.py
• Navigation: nav2_params.yaml
• Launch-time: full_system.launch.py

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🛑 Common Configuration Pitfalls

• Forgetting to source your workspace (source install/setup.bash)
• Not connecting all hardware to the same network
• Hardcoding IP addresses (use auto-detect!)
• Editing vendor launch files instead of copying to your own workspace

Real-World Advice

Never hardcode IPs or parameters unless absolutely necessary. The launch system is designed to auto-configure as much as possible—trust it!

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🎯 Next Steps

• Step-by-Step System Usage
• Advanced Parameter Tuning
• Troubleshooting & FAQ