🛠 Hardware Integration
This section explains how to connect, configure, and calibrate all physical components of your LIMO + MyCobot system for seamless operation with ROS2.
📷 Camera Integration
The Orbbec DaBai depth camera provides both RGB and depth data for object detection and 3D localization.
Connection:
- Mount securely to the LIMO base (avoid vibration).
- Connect via USB 3.0 to the robot computer.
Bringup:
ros2 launch orbbec_camera dabai.launch.py
Verify:
ros2 topic list | grep camera
You should see:
/camera/color/image_raw/camera/depth/image_raw/camera/color/camera_info
Keep the lens clean and avoid direct sunlight for consistent depth readings.
🚗 Robot Platform Setup
The LIMO Pro base provides mobility, odometry, and sensor input (LiDAR, encoders).
Connection:
- Power on using the main switch.
- Connect via Ethernet/Wi-Fi to the onboard computer.
Bringup:
ros2 launch limo_bringup limo_start.launch.py
Verify movement:
ros2 run teleop_twist_keyboard teleop_twist_keyboard
Check that /cmd_vel commands result in movement.
🦾 Arm Configuration
The MyCobot arm is used for manipulation tasks (pick & drop).
Connection:
- Mount on the LIMO base in a stable position.
- Connect via Wi-Fi or USB (depending on model).
Bringup:
ros2 launch mycobot_ros2 mycobot.launch.py
Test gripper:
ros2 topic pub /gripper_control std_msgs/String "data: 'open'"
ros2 topic pub /gripper_control std_msgs/String "data: 'close'"
Always start the arm in its home position to avoid unexpected collisions.
🎯 Sensor Calibration
LiDAR
- Ensure LiDAR is level.
- Verify data:
ros2 topic echo /scan - Check in RViz for alignment.
Depth Camera
- Adjust exposure and white balance if needed.
- Test depth data in RViz using DepthCloud plugin.
Arm Pose Offsets
- Use calibration jigs or manual measurement to adjust grasp positions.
🛠 Hardware Troubleshooting
| Issue | Possible Cause | Solution |
|---|---|---|
| Camera not detected | Bad USB cable or driver issue | Try different cable/port, reinstall driver |
| Robot not moving | Motor lock, low battery, or wrong mode | Check battery, release motor lock |
| Arm jerks during movement | Wrong joint speed or PID settings | Tune motion parameters |
| Depth readings inaccurate | Reflective/absorptive surfaces in view | Adjust angle or lighting |
| LiDAR scan offset | Sensor mount misaligned | Realign and re-tighten screws |
Always power off the robot before connecting or disconnecting major components.