Commissioning

Bringing HotDog up on a new M20 and a new substation, in order. Each step says how to see that it works before the next one depends on it. Do the motion steps in an open area, slowly, with someone holding the M20 remote and the hard emergency stop.

1. Network

The payload computer reaches three devices on its wired interface:

Device	Address (default)	Used by
Lynx M20	10.21.31.103, UDP 30000	m20_driver (ROBOT_IP)
RoboSense Airy × 2	send to this computer, UDP 6699/7788 (front), 6698/7789 (rear)	rslidar_sdk
UniPod MT11	10.21.31.26 (factory 192.168.144.25), TCP 37260, RTSP 8554	unipod_driver (POD_IP)
Hertzinno HZ-FA-371	192.168.2.204 (factory), HTTP 80	inspection_node (acoustic.host)

Give the interface an address in each subnet the devices use, e.g. with netplan (/etc/netplan/60-hotdog.yaml, then sudo netplan apply):

network:
  version: 2
  ethernets:
    eth0: # the payload interface
      addresses: [10.21.31.50/24, 192.168.2.10/24]

Check: ping 10.21.31.103, ping 10.21.31.26, ping 192.168.2.204.

Operators reach the robot on the substation network for the reports: TCP 8088 (http://<robot>:8088/, read-only) and SSH. Ask for both in the substation's network permit; nothing else needs to be open towards the robot.

2. Install

git clone git@github.com:DarmawanRobotics/HotDog.git ~/dev/HotDog && cd ~/dev/HotDog
scripts/setup.sh install                     # tools, repos, rosdep, build, the hotdog command
scripts/setup.sh install service timesync
sudoedit /etc/hotdog/hotdog.env
source ~/.bashrc                             # the hotdog command in this shell

Variable
ROBOT_IP	the M20 (10.21.31.103)
DRIVER_PARAMS	this robot's m20_driver file, /etc/hotdog/m20_driver.yaml (step 3)
PARAMS_FILE	this robot and site, /etc/hotdog/site.yaml (steps 5 - 9)
SITE	the site whose routes and inspection points are used
POD_IP	the UniPod MT11
HERTZINO_PASSWORD	the acoustic camera's password (never in a parameter file)
TELEGRAM_BOT_TOKEN	the bot that sends the alerts (step 9)

The file is read by systemd and bash: no comments after a value, quotes around values with spaces. scripts/setup.sh checks every component.

3. The M20

Work through m20_ros2: Verify on the real robot with ros2 launch m20_bringup bringup.launch.py alone: reports, angle unit, stand, emergency stop, takeover, one axis client, forward, the speed calibration per gait, turn and strafe signs, direction Back. Put the results into a copy of the bringup's driver file:

sudo install -D -m 644 src/hotdog/config/m20_driver.yaml /etc/hotdog/m20_driver.yaml
sudoedit /etc/hotdog/m20_driver.yaml     # angle_unit, full_scale.<gait>.*, invert_*, ...

Keep odom_frame: camera_init, base_frame: body and publish_tf: true: they make the M20's odometry HotDog's odometry.

4. The LiDARs

hotdog_base: The Airy on the network: packets from both Airy reach this computer, /lidar/front/points, /lidar/rear/points and /lidar/points at about 10 Hz, the rear cloud is behind the model in RViz (else fix cloud_merger_node input_rpy_deg in the site file), the ground stays at -base_height while the body tilts.

5. The robot profile and the stop

Measure base_height and the footprint with the payload mounted; a payload sticking out belongs in the footprint. Measure the braking limits as the Dharma hub's Robot Profile guide describes and keep max_decel / reaction_time at or below what was measured. Robot values go into the site file (/etc/hotdog/site.yaml, PARAMS_FILE) under the nodes, or into a copy of config/robot.yaml passed as robot_params. Check the protective field: walk towards the robot while it drives slowly; it must stop before you, from every side.

6. The pod

unipod_driver: first run, then with the whole robot running: ros2 topic echo /inspection/status shows pod_connected: true. With AI super-resolution on, the temperature pixels are 1280 × 1024: set inspection_node thermal.width / thermal.height in the site file.

7. The acoustic camera

The camera's web page: partial discharge mode, the analysis band and the imaging threshold the site needs (the band of the manual for HV equipment). Then inspection/status shows acoustic_connected: true. Run one detection in front of a known source (a corona gun, a known defect) and compare the report with the camera's own result.

8. The site

The dock is the origin of everything HotDog teaches:

1. Put the M20 on its dock, start HotDog (sudo systemctl start hotdog); hotdog status shows localize LOCALIZED (the odometry start is the origin).
2. Set the site: SITE=<name> in the env file (a new name creates the site), or hotdog site <name>.
3. Teach the route from the dock (docs/operations.md), with a target at each stop.
4. Set the day's air temperature (hotdog ambient 33), then run the first patrol at a low cruise speed (path_follower_node speed.cruise: 0.3 in the site file) and check the reports (http://<robot>:8088/).

9. Alerts

hotdog_alerts: Set up: the bot token in the env file, the crew's group in alert_node telegram.chat_ids of the site file, robot_name, language: id when the crew prefers it, and report_url as the crew's phones reach the robot. hotdog alert-test must arrive in the group.

10. Time

Every stamp comes from one clock: scripts/setup.sh install timesync (chrony). The Airy are stamped on arrival here (use_lidar_clock: false), so they need no PTP. health/status warns when the clock drifts.