The startup system check is shown on an OLED display. The display has its separated i2c bus (I2C-3) to communicate with the Raspberry.

The startup process is the following:

  • Greeting
  • Test I2C-1 devices: moving platform, sensor platform, and face module. If something is not represented on the bus, the error will be shown.
  • Waiting while ssh service will be loaded
  • Waiting while the network will be connected
  • Waiting while roscore will be launched
  • Infinite loop showing the network and project info. The robot is ready!

Gif of the process:

Code of the startup check process: