Boston Acoustics SPOT, User Manual

Page: 47 / 55

41
R 2.0
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NOTE: Delete incomplete missions from
your controller so they no longer appear in
the list of missions to replay. See “Deleting
a Mission” on page 42 for more information.
The robot stops and sits down during replay
Symptom: During mission replay, the robot
stops, sits, and powers down motors.
Possible causes:
• The robot is lost
• The robot has lost connection to the controller
• The robot battery is nearly drained
• The controller battery has drained.
Solutions:
• Relocalize the robot to a fiducial on the
mission.
• Recharge the controller battery using a
standard micro-USB cable.
• Recharge or replace the robot battery with a
fully charged battery and resume or restart
mission playback.
• Move the controller closer to Spot.
The robot stops during mission replay
Symptom: The robot has lost its localization.
Possible causes: Something has changed in the
recorded mission environment — a fiducial was
replaced, moved, or removed, for example, or the
environment has changed significantly since the
mission was recorded (moved equipment, new
construction, etc.).
Solution: Relocalize the robot to a fiducial on the
mission.
Robot fails to replay a mission
Symptom: The robot starts but doesn’t
complete a mission.
Possible causes: Robots may not successfully
follow a mission if the mission space has changed
significantly since the mission was recorded.
Solution: Clear the mission route of large obsta-
cles. Re-record the mission, if necessary.
Incompatible constraints error message
Symptom: This error message appears on the
robot controller when attempting to replay a
recorded mission.
Possible causes: A mission was recorded during
which the robot did not have enough room to
turn around backwards before traversing down a
ramp or a step. The mission recording completed
but on replay the error message appears.
Solution: Tap “Continue” to continue the mission.
Tap “Abort” to halt the mission replay. Re-record
the mission, checking to make sure the robot has
enough space to turn around before descending.
CAUTION: Continuing the mission will
cause the robot to descend steps facing
forwards, increasing the risk of the robot
falling.
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