Hardware Checklist (Pre-Competition)

When Powered Off

Check cables for insulation damage
Inspect cable ties and cable management
Check cables are correctly in their crimps
Inspect connectors and renew hot glue if necessary
Check 3D printed parts for cracks
Move motors and check for gear damage or stiffness (e.g. overly long screws in joints)
Inspect cleats are fully screwed in
Check screws (including those that are hard to access, like under the springs) and replace any missing ones
Inspect for head wobbling
Check camera cables for hard bends
Check if shoulders are bent
Inspect NUC power connectors

Ensure arms and legs are in the correct configuration (team markers outside, cables loose not coiled)

Verify ROS control torqueless and check robot model in RViz
Run:

rl bitbots_ros_control ros_control_standalone.launch torqueless_mode:=true and rl bitbots_ros_control viz_servos.launch
Connect hands to legs while watching the robot mode in RViz
Run the same commands as above.
Check for motor communication issues during startup and afterwards in the terminal
Run T-pose script
Run:

rl bitbots_ros_control ros_control_standalone.launch and rr bitbots_ros_control pose_check.py
Test teleop walking
Run:

rl bitbots_bringup motion_standalone.launch and rr bitbots_teleop teleop_keyboard.py
Test getting up
Run:

rl bitbots_bringup motion_standalone.launch
Verify robot-specific walking parameters
Perform extrinsic calibration

Do the steps as described in this documentation.

Check camera images for focus and proper transmission (10 Hz, low jitter)
Run:

rl bitbots_bringup vision_standalone.launch and ros2 topic hz /camera/image_proc and in rqt open the image view plugin.