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Autonomous UAV Systems · Free resource

ROS 2 Autonomy Bring-up Checklist

From empty workspace to a trustworthy autonomy graph — domains, QoS, transforms, and launch discipline before you trust offboard control.

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1. Workspace & environment

Distro pinned (Humble / Jazzy / etc.) and documented in README
ROS_DOMAIN_ID isolated per vehicle or lab bench — no accidental crosstalk
colcon build + test path runs clean on a fresh clone
Dependency versions locked (package.xml / repos file / Docker image)

2. Graph hygiene

Node graph reviewed: no orphan publishers / silent subscribers
Topic naming convention agreed (`/uav1/...`) and versioned
QoS profiles matched for control vs. telemetry (reliable vs. best-effort)
Parameter files checked in; no magic numbers only in launch args

3. Transforms & time

TF tree complete: map → odom → base_link → sensors
Clock source decided (system vs. simulation) and documented
Message stamps validated — no control on stale perception
Static transforms for camera / LiDAR / IMU calibrated once and stored

4. Bring-up & lifecycle

Composable nodes or lifecycle nodes used where restarts matter
Launch files start in a known-safe order (FCU → bridge → perception → planner)
Health topics expose node alive / degraded / failed states
Bag and replay (rosbag2) path exists for every critical mission

5. Safety before flight

Offboard / guided enable gated behind explicit arming checks
Emergency stop path tested from ground station and onboard
Simulation parity checklist signed before first outdoor flight
Operator runbook printed for the first three field sorties

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