🔄 High-Level Workflow

This is the full pipeline of LIMO Cobot—from power-up to “mission complete.”
See how every part fits together and what you should expect at each stage.

🎯 Workflow Stages Explained

🚀 Initialization Phase

• Hardware Detection: All components (LIMO base, MyCobot arm, camera) are detected and initialized
• Self-Localization: Robot determines its position on the map using AMCL and pose estimation

🔍 Exploration Phase

• Autonomous Navigation: Robot follows pre-defined or generated waypoints
• Object Scanning: YOLOv8 continuously analyzes camera feed for target objects
• Adaptive Pathfinding: Nav2 handles dynamic obstacle avoidance

🦾 Manipulation Phase

• Approach: Robot navigates to optimal pick position relative to detected object
• Pick Operation: MyCobot arm executes precise grasping sequence
• Transport: Robot safely carries object back to designated drop zone

✅ Completion Phase

• Drop Operation: Controlled object placement at base location
• Mission Assessment: System evaluates success and logs performance
• Restart: Cycle repeats for additional objects or ends based on configuration

🔄 Error Handling & Recovery

Each stage includes robust error handling:

• Navigation failures trigger re-planning or alternative routes
• Pick failures initiate retry sequences with adjusted parameters
• Communication timeouts activate failsafe modes
• Hardware issues generate alerts and graceful degradation