PUMA

2026.1.30

Runbook (Latest Version)

Prerequisites

• All required packages are already installed
• If not, please first check:
  • 🧾 Update Logs – [branch: Pedro's Notes] Jan 24
  • 🧾 Update Logs – [branch: Pedro's Notes] Jan 26

🔁 Runbook (Repeat Every Time)

2.1 Configure Host PC Ethernet IP (Mandatory)

The robot Ethernet port does not provide DHCP.
The host PC must use a static IP.

Configure the Ethernet interface

sudo ip addr flush dev enp7s0
sudo ip addr add 10.21.31.50/24 dev enp7s0
ip a show enp7s0

Verify Connectivity to the Robot

ping -c 2 10.21.31.106
ping -c 2 10.21.31.104

Both IPs must be reachable.

Ensure Routing Goes via Ethernet (Not Wi-Fi)

If the host is connected to both Wi-Fi and Ethernet, traffic to
10.21.31.0/24 must go through enp7s0.

Check routes:

ip route | grep 10.21.31

If the subnet is routed via Wi-Fi (e.g. wlp8s0), remove it:

sudo ip route del 10.21.31.0/24 via <WIFI_GW> dev wlp8s0

(Replace <WIFI_GW> with the actual Wi-Fi gateway.)

2.2 Start Multicast Relay on the Robot (10.21.31.106)

This step is executed on the robot

ssh user@10.21.31.106

Enable and start the multicast relay service:

sudo systemctl enable multicast-relay.service
sudo systemctl start multicast-relay.service
sudo systemctl status multicast-relay.service --no-pager

Expected output:

Active: active (running)

2.3 Verify Multicast UDP Reaches the Host (Highly Recommended)

⚠️ If this step fails, do NOT debug ROS yet

On the host PC, run:

sudo tcpdump -ni enp7s0 -nn 'udp and (port 6691 or port 6692)' -c 20

Expected packets:

10.21.31.106.xxxx > 224.10.10.201.6691: UDP, length 1248
10.21.31.106.xxxx > 224.10.10.202.6692: UDP, length 1248

If no packets appear:

• Network configuration is incorrect
• Multicast relay is not working
• Routing is wrong

Fix networking first. Do not proceed to ROS debugging.

2.4 Start rslidar_sdk on the Host

(Decode UDP → ROS2 PointCloud2)

Enter the rslidar workspace

cd ~/.../ws_rslidar

Source ROS2 and the workspace

Source-built workspace

source /opt/ros/jazzy/setup.bash
source install/setup.bash

(Optional) Verify the source-built driver is used

ros2 pkg prefix rslidar_sdk

It should point to:

.../ws_rslidar/install/rslidar_sdk

Not:

/opt/ros/...

Run the rslidar SDK node

ros2 run rslidar_sdk rslidar_sdk_node \
  --ros-args \
  --params-file /home/robotum/Documents/RoboTUM_ws/puma/robot_dds/rslidar_rosparams.yaml

Expected ROS topics

/rslidar_points_6691
/rslidar_points_6692

Verify point cloud frequency (new terminal)

ros2 topic hz /rslidar_points_6691
ros2 topic hz /rslidar_points_6692

In our setup, the frequency is approximately ~9 Hz.

2.5 Start the Puma System (Bringup)

source /opt/ros/jazzy/setup.bash
source ~/Documents/RoboTUM_ws/puma/puma_ros2_ws/install/setup.bash

ros2 launch puma_nodes puma_bringup.launch.py

2.6 Start Keyboard Teleoperation

source /opt/ros/jazzy/setup.bash
source ~/Documents/RoboTUM_ws/puma/puma_ros2_ws/install/setup.bash

ros2 run puma_nodes teleop_keyboard

2.7 Start RViz Visualization

source /opt/ros/jazzy/setup.bash
source ~/Documents/RoboTUM_ws/puma/puma_ros2_ws/install/setup.bash

rviz2

• Fixed Frame: map or puma_base_link

2.7.1 Add an LiDAR Visualization

1. In the left panel, click Add
2. Select PointCloud2
3. Click OK

• PointCloud2 → Topic
  Select:

    rslidar_points_6691_front

• PointCloud2 → Topic

    rslidar_points_6692_rear

2.7.2 Add an Image Display

1. In the left panel, click Add
2. Select Image
3. Click OK

Configure the Image Display:

• Image → Topic
  Select:

/camera/front/image_raw

⚠️ If the topic field is empty, RViz will show:

Error subscribing: Empty topic name

Note: Set the Correct QoS Policy (Important)

• Image → Reliability Policy

Best Effort

📌 Many camera streams use Best Effort for lower latency.

If RViz is set to Reliable, it may fail to receive images.

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