Initialisation and recovery

After booting and during normal operation it can happen that the emergency stop gets issued due to a number of things (even non critical), e.g.:

• The robot just booted up.

• Someone stepping too close to the robot (even if the robot does not move).

• The robot drives too close to an obstacle.

• The wireless emergency stop gets disconnected.

• Someone presses the emergency stop.

In order to re-activate the robot, the wireless emergency device has to be reconnected and the robot’s modules have to be reset. Please follow these steps:

Warning

Remove all obstacles and check surroundings first!

Warning

If the robot has been moving using the navigation, its goal might still be set and the robot immediately tries to reach it as soon as the emergency stop is released. If in doubt, restart the navigation module or cancel/restart all of roslaunch uh_cob bringup.launch.

1. Release the two emergency buttons at the robot (if pressed).

2. Release the wireless emergency button (if pressed).

   You hear “emergency button released” and an orange light appears behind the two buttons at the robot.

3. Initialize the robot by pressing the upper right shoulder and start buttons at the same time on the remote controller.

   You hear “init and recover”, then <component name> for each component, and finally “go”.