6. Diagnostic Tests

Overview

The diagnostic tests are a set of procedures to ensure the proper functionality of the robot. They can be run using ROS tools.

Instructions

1. Make sure the robot is connected to the WiFi network.
2. SSH into the robot's PC.
3. Run the diagnostic scripts provided.

Detailed Instructions

Here is how you can perform a detailed diagnostic:

cd ~/ros2_ws/src/diadem/diadem_firmware/scripts
python3 diadem_diagnostics.py

How to Run Diagnostics

The diagnostics.py script will perform several checks:

• Check IMU data consistency.
• Check battery status.
• Check motor functionality.
• Verify topic publishing rates.

Important Notes

• It is crucial to execute the tests with caution and follow the on-screen instructions for each test to ensure accurate results.
• Ensure that the robot has sufficient space to move during the motor direction test (Test Number: 2).
• If any issues are identified during the tests, refer to the specific diagnostic output for guidance on addressing the problem.
• Ensure the robot is on a flat surface before running IMU diagnostics.
• Monitor the battery status to prevent running diagnostics on a low battery.
• If any tests fail, refer to the error logs for more information.

By following these instructions, you can perform diagnostic tests on the diadem robot to identify and resolve any issues with its components.