3⃣
Hardware Integration

1.Launch the robot's motor and sensor drivers.

2.Run rosnode list to find the names of the ROS nodes of the drivers.

3.Run rosnode info <node> , where <node> is the name of the nodes determined from step 2. 
Sample output:
$ rosnode info /motors_ctrl 
--------------------------------------------------------------------------------
Node [/motors_ctrl]
Publications: 
 * /odom [nav_msgs/Odometry]
 * /odom_euler [std_msgs/String]
 * /robot_batt_perc [std_msgs/Int16]
 * /rosout [rosgraph_msgs/Log]
 * /tf [tf2_msgs/TFMessage]
​
Subscriptions: 
 * /cmd_vel [geometry_msgs/Twist]
4.From the information displayed from running step 3, make sure that: 
1.The robot motor driver node subscribes to the topic /cmd_vel for velocity commands. 
2.The Lidar driver node publishes laser data to the topic /scan

5.If the topic names are not set as in step 4, remap them in the launch files of the drivers by adding a line in the launch files in the following format:
<node ...
  <remap from="<original topic name>" to="/cmd_vel"/>
</node>
6.While the robot base and lidar are launched, run rosrun rqt_tf_tree rqt_tf_tree and check that the frames are linked in this order: odom → base_link → laser.

7.If the frames of base_link and laser are not linked correctly, there are two options you can link them. You can select one of them. (Prefer use Broadcast a transformation)
1.Broadcast a transformation refer to this link.
2.Create static transformation. Add the following line in the launch file of the lidar drivers:
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" args="0.22 0 0.1397 0 0 0 base_link laser 100" />
In “args”, x = 0.22, y = 0, z = 0.1397, yaw = 0, pitch = 0, roll = 0 for this example. This should provide a transformation between the base_link and laser frame
If you use static transformation, there will be several issues, one of the most is localizer mode, the UI won't visualize a laser scan in localizer mode.
​
8.With the driver nodes running, run RVIZ using: rosrun rviz rviz, do the following checks: 
1.Laser data ("/scan") can be seen and is orientated in the correct direction.
2.Movement direction during teleoperation is correct.
3.Robot odometry ("/odom") is updating correctly during teleoperation.
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Starting Seirios
Navigation Tuning
Last modified 2mo ago