Fejemis 2026 - Revision history

S253809: /* Mission Statement */

2026-05-28T09:17:40Z

Mission Statement

← Older revision		Revision as of 11:17, 28 May 2026
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	== Mission Statement ==		== Mission Statement ==
			Fejemis is developed to autonomously sweep the ASTA building in a safe and practical way for daily operations.

			The robot should:
			* Navigate autonomously through the building and reach assigned cleaning areas.
			* Plan and execute a full cleaning strategy instead of only following a single manual path.
			* Interrupt its cleaning mission when needed to return to a docking station for charging, then resume operation.
			* Avoid interfering with ongoing work in the ASTA building by operating safely around people and active tasks.

S253809: /* Troubleshooting / usual problems */

2026-05-28T08:56:51Z

Troubleshooting / usual problems

← Older revision		Revision as of 10:56, 28 May 2026
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	Use symlink install and only build the packages you changed:		Use symlink install and only build the packages you changed:

	~~```bash~~		colcon build --symlink-install --packages-select <changed_package_1> <changed_package_2>
	colcon build --symlink-install --packages-select <changed_package_1> <changed_package_2>
	~~```~~

	*'''Robot shuts down while driving (high speed / acceleration)'''		*'''Robot shuts down while driving (high speed / acceleration)'''
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	Run this from the main Raspberry Pi:		Run this from the main Raspberry Pi:

	~~```bash~~		fejemis sync_clocks
	fejemis sync_clocks
	~~```~~

	*'''Only one Raspberry Pi appears to boot'''		*'''Only one Raspberry Pi appears to boot'''

S253809 at 08:54, 28 May 2026

2026-05-28T08:54:09Z

← Older revision		Revision as of 10:54, 28 May 2026
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	If Fejemis crash (one of the battery display will turn off), you need to plug it in before turning it on again.		If Fejemis crash (one of the battery display will turn off), you need to plug it in before turning it on again.

			=== Troubleshooting / usual problems ===

			Common issues seen during daily operation:

			*'''Main Raspberry Pi crashes while building the full workspace'''
			The main Raspberry Pi may crash or run out of resources when building everything at once.
			Use symlink install and only build the packages you changed:

			```bash
			colcon build --symlink-install --packages-select <changed_package_1> <changed_package_2>
			```

			*'''Robot shuts down while driving (high speed / acceleration)'''
			If commanded speed or acceleration is too aggressive, the battery management system can cut power and both Raspberry Pis may shut down.
			Reduce drive aggressiveness and avoid sudden acceleration spikes.

			*'''System behaves inconsistently between main and aux Pi'''
			This is often caused by the two Raspberry Pis having unsynchronised clocks.
			Run this from the main Raspberry Pi:

			```bash
			fejemis sync_clocks
			```

			*'''Only one Raspberry Pi appears to boot'''
			You must hold the power button for a few seconds so both Raspberry Pis start correctly.

			*'''Left battery does not engage after BMS cutoff'''
			If the left battery turns off due to battery management protection, plug in the robot before booting again, otherwise that battery may not re-engage.

			*'''Unstable wireless connection in ASTA'''
			Wi-Fi in ASTA is often unreliable. Prefer connecting your PC over Ethernet for stable control and monitoring.

	=== Other utilities ===		=== Other utilities ===

S253809: /* Other utilities */

2026-05-27T13:29:09Z

Other utilities

← Older revision		Revision as of 15:29, 27 May 2026
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	Typically you wight want to send it as if it was a gamepad input:		Typically you wight want to send it as if it was a gamepad input:

	ros2 run arcana_tools signal_generator--ros-args -p frequency:=0.5 -p out_type:=geometry_msgs.msg.Twist.linear.x -r /sig_out:=/joy_control/cmd_vel -p range:=0.5		ros2 run arcana_tools signal_generator--ros-args -p frequency:=0.5 -p out_type:=geometry_msgs.msg.Twist.linear.x -r /sig_out:=/joy_control/cmd_vel -p range:=0.5

	You can display graphs using the rqt tool (type rqt in a terminal). There's a plugin "Vizualization>Plot" that integrate the python 3 matplotlib package.		You can display graphs using the rqt tool (type rqt in a terminal). There's a plugin "Vizualization>Plot" that integrate the python 3 matplotlib package.

S253809: /* Other utilities */

2026-05-27T13:28:57Z

Other utilities

← Older revision		Revision as of 15:28, 27 May 2026
Line 78:		Line 78:
	Typically you wight want to send it as if it was a gamepad input:		Typically you wight want to send it as if it was a gamepad input:

	ros2 run arcana_tools signal_generator--ros-args -p frequency:=0.5 -p out_type:=geometry_msgs.msg.Twist.linear.x -r /sig_out:=/joy_control/cmd_vel -p range:=0.5		ros2 run arcana_tools signal_generator--ros-args -p frequency:=0.5 -p out_type:=geometry_msgs.msg.Twist.linear.x -r /sig_out:=/joy_control/cmd_vel -p range:=0.5

	You can display graphs using the rqt tool (type rqt in a terminal). There's a plugin "Vizualization>Plot" that integrate the python 3 matplotlib package.		You can display graphs using the rqt tool (type rqt in a terminal). There's a plugin "Vizualization>Plot" that integrate the python 3 matplotlib package.

	To enable the fetching of the wheels velocities from the bridge, you may need to edit the file "~/.config/fejemis_bridge/bridge.yaml" and set enable: true instead of false in the vel section.		To enable the fetching of the wheels velocities from the bridge, you may need to edit the file "~/.config/fejemis_bridge/bridge.yaml" and set enable: true instead of false in the vel section.


	== Hardware ==		== Hardware ==

S253809 at 13:28, 27 May 2026

2026-05-27T13:28:08Z

← Older revision		Revision as of 15:28, 27 May 2026
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	If the argument "localization:=false" is provided, the robot will automatically start a new mapping process and overwrite the current map.		If the argument "localization:=false" is provided, the robot will automatically start a new mapping process and overwrite the current map.


			After ''fejemis robot.launch.py'' is running on both Raspberry Pis, you can optionally start a few helper nodes depending on what you want to test:
			* <code>ros2 run fejemis_maploc rviz_goal_relay.py</code> lets you send a navigation goal from RViz if you want to drive the robot to a specific point.
			* If the robot does not localize itself automatically, you can set the initial pose in RViz.
			* <code>ros2 run fejemis_maploc mission_trigger.py</code> starts the cleaning behaviour once the robot is ready.
			* <code>ros2 run fejemis_maploc fixed_complete_coverage_planner.py</code> or <code>ros2 run fejemis_maploc complete_coverage_planner.py</code> can be used to test only the cleaning path generation and coverage following.

	If Fejemis crash (one of the battery display will turn off), you need to plug it in before turning it on again.		If Fejemis crash (one of the battery display will turn off), you need to plug it in before turning it on again.

S253745: /* Software */

2026-05-27T12:34:23Z

Software

← Older revision		Revision as of 14:34, 27 May 2026
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	==== Old repository ====		==== Old repository ====
	You can access the description of the legacy ~~[[Repository]]~~ through this link.		You can access the description of the legacy through this link.

	== Mission Statement ==		== Mission Statement ==

S253809: /* Software */

2026-05-27T12:13:23Z

Software

← Older revision		Revision as of 14:13, 27 May 2026
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	== Software ==		== Software ==
	The software is split into two components:		The software is split into two components:
	*'''[[Fejemis bridge]]''' handles communication between the main Raspberry Pi and the Teensy controllers and provides a manual/remote-control interface. See [[Fejemis repository]] for source and docs.		*'''[[Fejemis bridge]]''' — handles communication between the main Raspberry Pi and the Teensy controllers and provides a manual/remote-control interface. See [[Fejemis repository]] for source and docs.
	*'''[[Fejemis ROS2 Software]]''' higher-level programs for mapping, navigation, and robot behaviours located in '''Fejemis_workspace_2026'''.		*'''[[Fejemis ROS2 Software]]''' — higher-level programs for mapping, navigation, and robot behaviours located in '''Fejemis_workspace_2026'''.

	==== Old repository ====		==== Old repository ====

S253809: /* Software */

2026-05-27T12:10:27Z

Software

← Older revision		Revision as of 14:10, 27 May 2026
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	The software is split into two components:		The software is split into two components:
	*'''[[Fejemis bridge]]''' handles communication between the main Raspberry Pi and the Teensy controllers and provides a manual/remote-control interface. See [[Fejemis repository]] for source and docs.		*'''[[Fejemis bridge]]''' handles communication between the main Raspberry Pi and the Teensy controllers and provides a manual/remote-control interface. See [[Fejemis repository]] for source and docs.
	*'''ROS2 ~~Stack~~ ''' higher-level programs for mapping, navigation, and robot behaviours located in '''Fejemis_workspace_2026'''. ~~See [[Fejemis ROS2 Software]].~~		*'''[[Fejemis ROS2 Software]]''' higher-level programs for mapping, navigation, and robot behaviours located in '''Fejemis_workspace_2026'''.


	==== Old repository ====		==== Old repository ====

S253809: /* Software */

2026-05-27T12:09:45Z

Software

← Older revision		Revision as of 14:09, 27 May 2026
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	== Software ==		== Software ==
	The software is split into two components:		The software is split into two components:
	*'''~~fejemis_bridge~~''' handles communication between the main Raspberry Pi and the Teensy controllers and provides a manual/remote-control interface. See [[Fejemis repository]] for source and docs.		*'''[[Fejemis bridge]]''' handles communication between the main Raspberry Pi and the Teensy controllers and provides a manual/remote-control interface. See [[Fejemis repository]] for source and docs.
	*'''ROS2 Stack ''' higher-level programs for mapping, navigation, and robot behaviours located in '''Fejemis_workspace_2026'''. See [[Fejemis ROS2 Software]].		*'''ROS2 Stack ''' higher-level programs for mapping, navigation, and robot behaviours located in '''Fejemis_workspace_2026'''. See [[Fejemis ROS2 Software]].

	~~=== Fejemis Bridge Documentation ===~~
	~~The [[Fejemis repository]] holds the documentation and source-code. This section holds also the tool-chain instructions.~~
	~~==== Bridge and message broker ====~~
	~~The hardware is integrated with the PC in a bridge-unit that also integrate a manual (remote control) possibility.~~
	~~This [[Fejemis bridge]] also provide the needed interface to ROS (to drive and control the operation).~~

	~~=== ROS 2 Software Documentation ===~~
	~~You can access the documentation of the ROS2 software and github repository here [[Fejemis ROS2 Software]].~~

	==== Old repository ====		==== Old repository ====