🔄 Reset & Recovery Guide

When working with the LIMO Pro + MyCobot + YOLO system, unexpected errors, crashes, or misconfigurations can happen.
This guide gives you step-by-step reset and recovery procedures to get your robot back online without corrupting its core setup.

---

🛑 Emergency Shutdown

If your robot behaves unexpectedly (e.g., spinning uncontrollably, arm collision risk):

1. Press the Robot's E-Stop Button – instantly cuts motor power.
2. Kill All ROS2 Nodes:

   pkill -9 -f ros2

3. Turn Off the Main Power Switch on the LIMO Pro.
4. Disconnect Arm Power (if MyCobot is active and unsafe).

Immediate Action

Never try to "catch" the robot arm by hand while motors are active — it can cause injury or damage.

---

♻️ Full System Reset

Sometimes, you need to reset software state without reflashing SD cards.

Quick Reset

For minor glitches (e.g., wrong pose, map drift):

# Kill all running nodes
pkill -9 -f ros2

# Restart full system
ros2 launch full_system full_system.launch.py

✅ This reloads pose_setter, Nav2, YOLO, and Mission Manager in the correct sequence.

Full Reset

For major issues (navigation failing, robot unresponsive):

1. Shutdown ROS2:

   pkill -9 -f ros2

2. Power cycle the robot (turn off, wait 5s, turn on).

3. Reconnect MyCobot over Wi-Fi:

   • SSID: MyCobotWiFi2.4G
   • Pass: mycobot123

4. Re-run the main launch file:

   ros2 launch full_system full_system.launch.py

---

🧹 Workspace & Config Recovery

If ROS2 packages break or configs get corrupted:

Golden Rule

Never build inside the source workspace of the robot. Always use an external colcon workspace for your code.

1. Backup your current workspace:

   tar -czvf backup_ws_$(date +%F).tar.gz ~/krish_ws

2. If broken:

   rm -rf ~/krish_ws
   mkdir -p ~/krish_ws/src

3. Re-clone your project from GitHub.

4. colcon build only inside your workspace.

---

💾 Data Recovery (Maps, Logs, Params)

To restore custom maps, YOLO weights, or parameter configs after a reset:

Data Type	Default Path	Backup Method
RTAB-Map / Cartographer Maps	~/maps/*.yaml, .pgm	Copy to USB / Git repo
YOLO Model Weights	~/krish_ws/runs/detect/.../best.pt	Cloud or Git LFS
Nav2 Params	~/krish_ws/src/nav2_params.yaml	Git commit

---

🚑 Worst-Case Recovery (SD Card Reflash)

If nothing works:

1. Contact vendor or use your pre-flashed SD card backup.
2. Flash using balenaEtcher or Raspberry Pi Imager.
3. Boot robot and set up your workspace again.

---

✅ Post-Recovery Checklist

• ☐ All ROS2 nodes launch without errors.
• ☐ MyCobot connects automatically over Wi-Fi.
• ☐ Navigation goals work.
• ☐ YOLO detects objects in RViz / image topic.
• ☐ Mission Manager resumes full workflow.

Quick Tip

Keep two microSD cards — one in use, one as a ready-to-go backup.

---

Next: Usage Guide → Full Workflow