Before You Move the Robot, Prove You’re Talking to the Right Robot

Описание и применение

Пошаговый подход к проверке подключения, конфигурации и безопасности робота перед отправкой команд, разделяющий проверку программного обеспечения, интеграцию и физическое исполнение, с акцентом на доказательства и контроль AI.

Задача

Ensuring that a physical robot is correctly connected, configured, and safe to command before sending movement instructions, especially when AI may issue commands.

Результат

A systematic, layered validation process that separates software, integration, and physical execution, providing concrete evidence before any robot motion is authorized.

Рабочий процесс

• Verify ROS 2 distribution and package build version
• Confirm launch files and node list are as expected
• Check that the correct serial device is connected and the correct port is used
• Ensure required ROS 2 topics and services are available
• Validate homing configuration (recipe) before execution
• Run a homing sequence and observe joint angles
• Perform a Cartesian movement test and measure physical displacement
• Document evidence for each step

Доказательства

I can verify the recipe without proving anything about the physical movement. So I think of it as: Validate the recipe first. Then, validate the execution.

Источник

A healthy ROS 2 graph doesn't necessarily mean a healthy robot

Источник

Once I get to physical testing, I particularly like using Cartesian movement for validation.

Источник