🧠 BILHR- Developer Reference & Workflow Guide

This document serves as a practical reference for team members. It summarizes essential commands, execution order, coding rules, and submission standards to avoid repetitive mistakes and confusion.

---

📊 Joints

The following plot shows each joint.

---

🚀 Frequently Used Commands

🔧 Build & Source

colcon build --symlink-install
source install/setup.bash

🔧 Creating a Package

ros2 pkg create --build-type ament_python name_of_package --dependencies other_package_1 other_package_2
ros2 pkg create --build-type ament_python ffnn --dependencies rclpy std_msgs geometry_msgs sensor_msgs numpy

📡 Check ROS System

ros2 node list
ros2 topic list
ros2 service list
rqt_graph

▶️ Run Nodes

ros2 run ainex_motion joint_controller
ros2 run ainex_motion joint_visualization_node
ros2 run ainex_motion keyboard_input_node
ros2 run ainex_motion ainex_motion_node
ros2 run ainex_vision camera_sub

🔓 Unlock / Lock Joints

ros2 service call /Unlock_All_Joints std_srvs/Empty {}
ros2 service call /Lock_All_Joints std_srvs/Empty {}

---

🤖 Robot Setup & Network

1. Turn on the robot.
2. Check connection with:

ping 192.168.50.20X  # X = robot ID
ping 192.168.50.201  # Our robot

3. If ping works but no nodes appear, reboot the robot.
4. After boot, verify /Joint_Control and /camera_publisher are running:

ros2 node list

---

🧪 Standard Workflow

Follow this sequence every time you run a motion experiment.

1. Unlock joints first.
2. Start keyboard_input_node
3. Start ainex_motion_node
4. Open rqt_graph to verify connections
5. Open PlotJuggler to monitor joint states:

ros2 run plotjuggler plotjuggler

---

🧼 Coding Standards

• Add a comment with your name at the top of every .py file:

#Team A
#Guan Chenhao
#Julia Dürr
#You-Ri Su
#Yuxin Wang
#Yuxuan Li

• Add meaningful docstrings or inline comments for all functions
• Use variables instead of hardcoded joint IDs
• Place test/demo code inside if __name__ == "__main__":

---

📦 Submission Checklist

• Include full /src folder with packages
• Provide any required screenshots or logs
• Include demo videos of motion or vision tasks

🎞️ Video Requirements

• Max length: 60 seconds
• Min resolution: 720p
• Min framerate: 25 FPS
• Max file size: 30 MB

📦 Naming Convention

LastName1_LastName2_LastName3_ProjectName.tar.gz

Dürr_Guan_Li_Su_Wang_TeamA.zip

---

⚠️ Operational Reminders

• 🔋 Keep the robot plugged in when not in motion (battery > 10V)
• 🔥 Do NOT leave joints locked for long periods — risk of overheating
• ✅ Always check joint range before sending commands
• 🆘 Do not swap robot-PC pairs without tutor approval

---

✅ Team TODO

• Finalize motion logic
• Comment and clean code
• Record all required demo videos
• Write final README.md
• Package and submit before deadline

---

🧠 Keep calm and unlock your joints. :)