Fejemis 2026

Introduction

Fejemis is an autonomous cleaning robot developed to clean the Asta building. The building is divided into different cleaning areas, where the robot navigates autonomously to a selected point, plans a cleaning path, and performs the cleaning task using its brushing system while following the generated route.

Start up guide

To work with Fejemis, you can connect directly using a monitor and keyboard. The monitor can be connected to one of the Raspberry Pis, while the keyboard connects through USB. After booting, log into the Ubuntu system using the provided credentials.

The Raspberry Pis can be also accessed through SSH.

local@10.197.218. (The IP some time changes, check it by connecting directly with the monitor)

If you are connected to the main Raspberry Pi,the auxiliary Raspberry Pi can be accessed using:

ssh fejemis-aux

Fejemis uses two Raspberry Pis:

Main Raspberry Pi Auxiliary Raspberry Pi

Both devices must run the same launch file:

ros2 launch fejemis_maploc slam_test.launch.py localization:=true map_location:=asta

This launch file runs the latest version of the autonomous cleaning software. It must be launched on both Raspberry Pis, since each device handles different parts of the system.

Hardware

Mechanics

You can access the technical description of the Mechanics in this page.

Electronics

You can access the technical description of the Electronics in this page.

Software

Repository

You can access the detailed description of the Repository through this link.