🔄 Full Workflow

This section describes the end-to-end operation of the LIMO Autonomous System — from powering on to completing a pick-and-drop mission — including step-by-step actions, what to expect, and how to know each stage succeeded.

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🗺 Complete System Workflow

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📜 Step-by-Step Operation

1. Launch System

• Power on LIMO base, MyCobot arm, and camera.
• Activate MyCobot Wi-Fi hotspot: SSID: MyCobotWiFi2.4G | Password: mycobt123.
• Launch:

ros2 launch nav_handler full_system.launch.py

Expected logs:

✅ Found MyCobot at 192.168.137.75
🟢 Exploration node ready.
✅ Initial pose published at (-0.78, -0.23, 0.14 rad)

2. Exploration & Navigation

• Robot begins navigating through fixed waypoints.
• At each waypoint:
  • Stops.
  • Performs 270° rotational scan.

Success indicator:

🔄 Starting scan: 270° at 0.5 rad/s
✅ Scan complete.

3. Object Detection

• YOLO node processes RGB + depth frames.
• On detection:
  • Exploration pauses.
  • Voice alert: "Object detected. Stopping exploration."
  • Target pose published: /target_pose.

Success indicator:

[📍 DETECTED] target_object 2D(320,240) 3D(0.42,0.15,0.80)
🌍 POSE Published /target_pose → map(1.23, 0.45), yaw=45.0°

4. Navigate to Object

• Nav2 moves robot to calculated approach position.

Success indicator:

🚀 Navigating to detected object.
🏁 Arrived at object location.

5. Pick Operation

• Mission Manager runs pick_node.
• Arm sequence:
  • Center → Pickup → Grip → Return to Center.

Success indicator:

🤖 Moving to PICKUP...
🧲 Grabbed the object!
✅ Pick sequence complete!

6. Return to Base

• Robot navigates to BASE_POSE.

Success indicator:

Pick done. Returning to base.
🏁 Goal reached.

7. Drop Operation

• Mission Manager runs drop_node.
• Arm sequence:
  • Center → Drop Position → Release → Center.

Success indicator:

🪣 Dropped the object!
✅ Drop sequence complete!

8. Mission Complete

• Voice alert: "Mission complete."
• Mission Manager state = DONE.

🏁 Mission done.

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🎯 Expected Outputs at Each Stage

Stage	Logs	Physical Action	Voice Feedback
Launch	IP detection, pose publish	Robot idle	"Exploration initialized"
Exploration	Waypoint coords printed	Robot moves along path	"Navigating"
Scan	🔄 Starting scan	Robot rotates in place	"Scan complete"
Detection	[📍 DETECTED] ...	Robot stops	"Object detected"
Navigate to Object	🚀 Navigating to detected object	Robot approaches target	"Navigating to object"
Pick	✅ Pick sequence complete!	Arm grabs object	"Pick done. Returning to base"
Return	🏁 Goal reached	Robot moves to base	"Back to base"
Drop	✅ Drop sequence complete!	Arm releases object	"Drop done. Mission complete"

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🏆 Success Indicators

• ✅ Zero collisions during navigation.
• ✅ Accurate object approach (≤ 10 cm from calculated target).
• ✅ Pick & drop success rate ≥ 80% in test runs.
• ✅ All voice alerts match current operation stage.
• ✅ No critical errors in mission.log.

Pro Tip

Run at least 3 consecutive missions without failure to confirm system readiness for real-world deployment.

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🎯 Next Steps

• Advanced Usage
• Monitoring
• Troubleshooting