> For the complete documentation index, see [llms.txt](https://docs.movel.ai/new-collection/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.movel.ai/new-collection/fan-ti-zhong-wen/seirios-rns/installation-and-integration-1/pre-installation-checklist/ruan-ti-jian-cha.md).

# 軟體檢查

為了能夠無痛導入Seirios RNS，我們需要在您的機器人系統裡，設置必要的軟體與驅動程式。以下為您的機器人系統裡，安裝前必須具備的檢查清單：

* [ ] **馬達驅動**
  * 確保馬達驅動的節點正常運行，且可從cmd透過teleop去控制。
  * 確保馬達驅動訂閱此主題`/cmd_vel` 。
  * 否則，需要重新設置，使其訂閱此主題`/cmd_vel` 。
* [ ] **感測器**
  * 確保感測器啟動且運行正常。
  * 確保將感測器的數據發佈到正確的ROS主題上。
  * 確保光達發佈2D的掃描到`/scan`主題。
* [ ] **TF檢查**
  * 確保所有機器人的連結都有正確的TF，並且連結到`odom`。
  * TF樹狀圖可使用 `$ rosrun rqt_tf_tree rqt_tf_tree`，使其視覺化。

![](/files/Ht2HvsnoKoPKIfqdBeEP)

* [ ] **TF使用base\_link掃描：**
  * 由於RNS的要求，請確保在`base_link`frame和`laser`frame之間有直接的TF連結。

![Direct Link/TF from base\_link to laser is required](/files/-MkL_nWKq8Vw3D0nNCqr)

* [ ] **RVIZ 感測器的數據視覺化：**
  * 使用RVIZ可以視覺化呈現數據，固定的frame應該要是`odom`。
  * 增加TF視覺化，確保所有的frame沒有出現警告。

![RVIZ TF Display Status (All Are OK, No Warnings)](/files/Dx1AzaKjzSA79VlSHzsw)


---

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