Troubleshooting issues on your robot#

This pages covers typical issues that may appear when using your robot, and possible solutions. Please check the tables below carefully before reporting an issue to the support platform. To directly access the logs of a startup application please take a look at startups-cmd-line.

Useful links#

debugging
Frequently Asked Questions
system-recovery
getting-support
startups-cmd-line

Troubleshooting startup issues#

Issue	Possible solutions
The robot does not power up when pressing the On/Off button of the rear panel	Make sure that the electric switch is pressed, i.e. its red light is ON. You also can follow this page: ari-power-management
After several days without use, the robot does not power up	Make sure that the battery is charged. Connect the charger and try to turn the robot on again after a couple of minutes
After several days without using the robot, the batteries, which was charged, is now empty	If the the electric switch was left pressed, it is possible that the battery has completely discharged. In this case, connect the charger and wait for a couple of hours before trying to turn the robot on again.

Troubleshooting navigation issues#

Issue	Possible solutions
The robot does not navigate	Make sure that the joystick has not taken the priority of the base. Press the START button of the joystick to release it. Check Gamepad for more details.
The robot does not navigate even if the joystick has not the priority	Check in Web user interface -> Diagnostics -> Software if Navigation is paused. Then, check accordingly one of the next issue.
Even if Navigation is not paused, the robot does not navigate when sending navigation goals	Make sure that navigation is running, i.e. you may check the status of Web user interface -> Startup -> navigation.

Troubleshooting upper-body movements issues#

Issue	Possible solutions
Pre-defined movements do not work	Make sure in Web user interface -> Startup -> play_motion2 that this node is running. Otherwise press the `Play` button to re-launch it. If this is not the case, try to reboot the robot and check if the problem persists. Check the section startups-cmd-line for details on how to check the log of this node.
The torso does not move when trying to control it with the joystick	Make sure that the arm is not in collision with some other part of the robot. If so, try first running the pre-defined movement `Offer Gripper` or `Offer Hand`.
I have defined a new movement for `play_motion2` and it interrupts abruptly during its execution	Make sure that none of the joints of your motion is being controlled by other nodes. For example, if your movement includes the head joints, make sure to stop the `gaze_manager` node. Check section startups-cmd-line for details on how to stop this node.
I have defined a new movement for `play_motion2` and when running it the arm collides with the robot	Make sure to set to false the `skip_planning` flag of the `play_motion2` goal when running the motion. Otherwise the first waypoint of the movement will be executed without motion planning and self-collisions may occur.

Troubleshooting network issues#

Issue	Possible solutions
I have configured the network to connect to my LAN but it does not work and I have no longer access to the robot via WiFi	Connect a computer to one of the Ethernet ports of the expansion panel and open a web browser to connect to `<robot>-0c` or to `http://10.68.0.1/` to have access to the Diagnostics. Check on the Network tab if the configuration is OK.

Troubleshooting Gazebo issues#

Issue	Possible solutions
If you are using a computer with a non-dedicated GPU and run into issues with the lasers in simulation	You would need to change this environment variable before launching the simulation: `export LIBGL_ALWAYS_SOFTWARE=1`