Most research and commercial humanoids run on ROS 2, and the middleware layer is where subtle problems live: TF tree errors, controller misconfiguration, topic dropouts, and firmwa
Most research and commercial humanoids run on ROS 2, and the middleware layer is where subtle problems live: TF tree errors, controller misconfiguration, topic dropouts, and firmware/driver mismatches after updates. These issues rarely announce themselves clearly — the robot just behaves badly.
A calibration visit typically includes a full software health check (ROS 2 node graph, topic rates, controller parameters), firmware version audit across all joint drivers, IMU and kinematic calibration, and validation runs. Good technicians document the before/after state so you can see what changed.
This is also the right service after any hardware replacement — new actuators, sensors, or compute boards almost always need the software side re-tuned to match.
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Almost certainly a missed calibration step. New hardware changes the kinematic and dynamic model; the software must be re-tuned. A calibration visit fixes it.
Less often — vendor apps hide the middleware. But after firmware updates or hardware service, a check is still worthwhile.
Diagnostics often can; calibration usually needs the robot physically present for motion validation.