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 turn on Fejemis, you need to press the turn on button for more than 2 seconds. If not, both Raspberry Pis wont boot. To turn it off you need to press it for more than 7 seconds.

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.

Fejemis uses two Raspberry Pis:

Main Raspberry Pi and Auxiliary Raspberry Pi

The Raspberry Pis can be also accessed through SSH.(The IP some time changes, check it by connecting directly with the monitor)

Main lab
local@10.197.213.227
Aux lab
local@10.197.213.226
Main asta
local@10.197.219.238
Aux lab
local@10.197.219.237

The last way of connecting is through Ethernet.

Main
197.168.1.1 
Aux
197.168.1.2

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

ssh fejemis-aux

Both devices must run the same launch file:

ros2 launch fejemis robot.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.

If the argument "localization:=true" is not provided, the robot will automatically start a new mapping process and overwrite the current map.

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

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 github repository through this link Fejemis ROS2 Software.

Old repository

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