🚀 System Startup

This section explains how to start the entire LIMO Robotics System in the correct order, with all required parameters, verification steps, and quick fixes for common startup issues.

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🗂 Launch Order & Sequence

Your system is orchestrated by the full_system.launch.py file, which automatically:

1. Detects the MyCobot arm's IP address over Wi-Fi (MyCobotWiFi2.4G / mycobt123).
2. Starts LIMO base bringup (limo_start.launch.py).
3. Launches the Orbbec DaBai camera.
4. Starts YOLO object detection (object_detector.py).
5. Runs Nav2 for navigation.
6. Publishes initial robot pose (pose_setter.py).
7. Starts the Mission Manager to coordinate exploration, detection, picking, and dropping.
8. Opens RQT Image View for real-time camera debugging.

One-Command Launch

ros2 launch nav_handler full_system.launch.py

Manual Startup (Advanced)

# 1️⃣ Start LIMO bringup
ros2 launch limo_bringup limo_start.launch.py

# 2️⃣ Launch Orbbec DaBai camera
ros2 launch orbbec_camera dabai.launch.py

# 3️⃣ Start YOLO object detection
ros2 run object_detector yolo_detector

# 4️⃣ Launch Nav2 with map
ros2 launch limo_bringup limo_nav2.launch.py map:=/path/to/map.yaml

# 5️⃣ Publish initial pose
ros2 run nav_handler pose_setter

# 6️⃣ Start mission manager
ros2 run nav_handler mission_manager

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⚙️ Required Parameters

Parameter	Default Value	Purpose
m5_ip	Auto-detected or 192.168.137.75	MyCobot control over Wi-Fi
map	/home/agilex/krish_ws/maps/map11.yaml	Pre-built navigation map
waypoints	Fixed set in mission_manager.py	Exploration path
BASE_POSE	(-0.07185, -0.08918, 7.95°)	Drop zone location

💡 Tip: You don't need to manually set m5_ip if using the Wi-Fi hotspot method.

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✅ Startup Verification Steps

After launch, you should see:

1. LIMO bringup logs:
   • ... LIMO base initialized
2. Camera logs:
   • ✅ YOLO detector node initialized with synchronized inputs
3. Nav2 logs:
   • bt_navigator: Begin navigating...
4. Pose Setter logs:
   • ✅ Initial pose published at (-0.78, -0.23, 0.14 rad)
5. Mission Manager logs:
   • 🟢 Exploration node ready.
6. RQT Image View shows:
   • Live camera feed with YOLO bounding boxes & 3D coords.

Voice Feedback

The robot will speak key status updates:

• "Navigating"
• "Object detected"
• "Pick done. Returning to base."
• "Drop done. Mission complete."

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🛠 Common Startup Issues

Issue	Cause	Fix
❌ Nav2 server not ready!	Nav2 not fully initialized before mission manager starts	Increase TimerAction delay in full_system.launch.py
YOLO detector not receiving camera frames	Camera not connected or wrong topic names	Verify dabai.launch.py camera topics match in object_detector.py
Arm does not move	Wrong or unreachable m5_ip	Ensure Wi-Fi hotspot is active before launch
RQT Image View crashes	Missing rqt_image_view package	Install with sudo apt install ros-foxy-rqt-image-view

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🧠 Internal Flow

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🔍 Pre-Run Checklist

• ✅ MyCobot Wi-Fi hotspot ON (MyCobotWiFi2.4G / mycobt123)
• ✅ Map file exists at correct path
• ✅ ROS 2 workspace sourced (source install/setup.bash)
• ✅ LIMO battery charged (> 50%)
• ✅ Arm gripper unobstructed
• ✅ Camera lens clean

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🎯 Next Steps

• Mission Manager Overview
• System Components
• Troubleshooting Guide