Routine Maintenance

Perform regular checks on sensors, motors and software to ensure reliable operation of the robot.

Consistent maintenance prolongs the life of your robot and catches issues before they become critical. This module outlines daily and weekly checks you can perform using ROS 2 commands.

bash

ros2 launch common_platform launch_robot.launch.py

bash

ros2 topic echo /${ROS_NAME}/scan

bash

ros2 topic echo /${ROS_NAME}/camera/image_raw

bash

ros2 topic echo /${ROS_NAME}/imu/data

bash

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{}"

CAUTION: To test actual robot movement, ensure the workspace is clear and publish a non-zero velocity command:

ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 0.1, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"

This will cause the robot’s wheels to turn. Only run this command if you have verified the area is safe.

Maintenance Schedule

Regular maintenance extends the robot’s operational life and prevents unexpected failures. Follow this schedule:

Daily Checks (before each session):

Visual inspection for loose cables, damaged components, or debris
Verify battery charge level
Check wheel rotation and motor response
Confirm sensor connectivity (LiDAR, camera, IMU)

Weekly Maintenance:

Clean LiDAR lens and camera optics with a soft, lint-free cloth
Inspect and tighten mounting hardware
Check tire condition and wheel alignment
Update ROS packages: sudo apt update && sudo apt upgrade

Monthly Maintenance:

Deep clean all sensors and remove accumulated dust
Calibrate IMU if drift is observed
Test battery capacity and charging cycle
Review and update firmware if new releases are available
Inspect motor brushes and bearings for wear

Quarterly Maintenance:

Full system diagnostic and performance review
Replace worn mechanical components (wheels, belts, bearings)
Recalibrate sensors and verify accuracy
Backup system configurations and custom code
Review logs for recurring errors or warnings

Schedule deeper maintenance (tightening hardware, inspecting cables, updating packages) weekly or monthly as recommended by the program.

Maintenance Schedule

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