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

说明与用途

在向机器人发送指令前，分层验证软件、集成和物理执行的步骤，强调证据和 AI 安全性。

问题

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

结果

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

工作流

• 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

证据

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.

来源

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

来源

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

来源