# 安装前清单

为了与 Seirios RNS 无缝集成，在您的机器人系统中安装一些关键的机器人软件和驱动程序非常重要。 以下是在安装 Seirios 之前，Seirios RNS 要求您的机器人系统具备的清单：

* [ ] **电机驱动**
  * 确保电机驱动节点运行正常，并且可以通过 cmd 行的 Teleop 进行控制。  
  * 确保电机驱动节点已订阅 主题`/cmd_vel` 
  * 否则，重新设置以订阅主题`/cmd_vel` 
* [ ] **传感器**
  * 确保传感器启动并正常运行
  * 确保他们将数据发布到正确的 ros 主题
  * 确保激光雷达将 2D 扫描发布到主题 `/scan` 
* [ ] **TF 检查**
  * 确保所有机器人的链接都有正确的 tf ，链接到 `odom` 
  * tf 树可以视觉化通过使用`$ rosrun rqt_tf_tree rqt_tf_tree`

![Example of TF Tree from rqt\_tf\_tree](https://lh4.googleusercontent.com/ql-Mn1b6e0cYe7xuSqPpxSho9b82mNruPXLW5N7SwKeuO7Ezz8SAokTueZjNFcKC6vtIebtOuMUfKtC5cj3_bMkfB6IC1ygwMNbl-G1mMv5ow3PvX3lnmOFbZnTx4kM6RWRZktzf=s0)

* [ ] **TF for base\_link to 扫描:**
  * Seirios RNS要求，在`base_link` 框架和`laser` 框架之间，需要有 直接的 **tf 链接**

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

* [ ] **RVIZ 传感器数据可视化**
  * 使用rviz，将传感器的数据可视化。使用的固定框架应为 `odom`
  * 添加tf的可视化，并确保所有的框架tfs没有警告

![RVIZ TF Display Status (All Are OK, No Warnings)](/files/-MkLa-VwBGbCfyv1CHR1)


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