Hardware tests

Before we can actually test the robot, we need to install the software. You can follow the instructions from here and either install the MIRTE-OS on the EMMC, or run it from SD card.

Please note that at the moment you will need to get some development image located at: https://github.com/ArendJan/mirte-sd-image-tools/actions/runs/24549626442

This also holds for the uf2 for the Pico. Please upload this one: https://github.com/ArendJan/Telemetrix4RpiPico/releases/tag/rolling

Please note that currently these images are using the development MIRTE ROS packages from: https://github.com/ArendJan/mirte-ros-packages/tree/develop

After booting you can login to the robot, and run the following test:

$ ros2 run mirte_test mirte_master_hw_test

Please note that you need to make sure the distance sensor gets some data (e.g. moving your hand in front of the sensor)

Warning

Sometimes the timing of some of the sensordata (e.g. lidar and/or camera) is off which currently will fail the test. In that case you can check if you get data on the missing topics.