Pre recording Checklist - Forestry-Robotics-UC/fruc_dataset_apparatus GitHub Wiki

Pre-Recording Checklist

Before heading to the field, ensure all hardware and software components are properly configured and functional.

Hardware Check

Sensor Box

Verify all mechanical connections:

  1. Check all mounting screws are tight and secure
  2. Verify all sensors are properly seated in their mounts
  3. Ensure no visible damage or loose components
  4. Check cable connections for secure seating

Specific Sensors

  1. Xsens IMU:

    • Device is properly mounted
    • USB connection to hub is secure
    • Time sync connection to RPi Pico is secure (GPIO/UART)

  2. Intel Realsense D435i:

    • Mounted securely in position
    • USB-C connection is secure
    • Lens is clean and unobstructed
    • Time sync connection to RPi Pico is secure (GPIO/UART)

  3. Ouster LiDAR:

    • Mounted in correct orientation
    • Ethernet cable properly connected
    • Power connection verified (should make audible sound when powered)
    • Lens is clean
    • Time sync connection to RPi Pico is secure (GPIO/UART)

  4. Emlid GNSS Receiver:

    • Antenna positioned for sky visibility
    • Serial connection secure
    • Device properly mounted

  5. Raspberry Pi Pico Time Sync Board:

    • All sensor connections (Xsens, Realsense, Ouster) are secure
    • Board is properly powered
    • Board is stable and mounted securely

Backpack/Computer System

  1. Check all USB hub connections
  2. Verify Ethernet connections to LiDAR
  3. Verify RPi Pico time sync board connections (to Xsens, Realsense, and Ouster)
  4. Ensure main compute system (Steam Deck) is mounted securely
  5. Check battery connections and charge level

Power Checks

  • Main battery is fully charged
  • Connect battery to compute system and verify:
    • System boots successfully
    • Ouster LiDAR makes audible noise (confirms power)
    • System fans spin normally
  • All sensors are powered on and showing indicators

Software Checks

  1. Docker/Container Configuration:

    • Computer has Docker or Podman installed
    • Docker daemon is running
    • Can run docker ps or podman ps without errors

  2. Recording Configuration:

    • Repository is up-to-date: git pull
    • Git submodules initialized: git submodule update --init
    • Launch scripts are executable: chmod +x *.sh
    • All necessary files are present

  3. Pre-Recording Test:

    • Run ./launch-system.sh (or appropriate launch command)
    • All containers build successfully
    • All sensors are detected and publishing topics
    • Debug node shows all expected topics at correct frequencies
    • Can select topics for recording via dialog
    • Recording starts without errors
    • Let it run for 30 seconds to verify data capture
    • Stop recording: ./stop-system.sh
    • Verify rosbag file was created: ls -lh rosbags/
    • Check rosbag contents: ros2 bag info rosbags/<test_bag>/

  4. Topic Verification:

    • /imu/* topics appear with data
    • /ouster/* topics appear with data
    • /camera/* topics appear with data
    • /fix (GNSS) topic appears
    • /tf and /tf_static transforms are published
    • All topics have expected message frequency

Field Readiness Checklist

Before departing:

  • All sensors pass hardware checks
  • Battery is fully charged
  • Test recording completed successfully
  • Recording name convention planned
  • Data backup plan in place
  • Extra batteries available (if applicable)
  • Weather conditions have been assessed

Notes

  • If any check fails, troubleshoot before proceeding to the field
  • See Troubleshooting Guide for common issues
  • Estimated setup time: 15-30 minutes
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