✅Software Checks

For seamless integration with Seirios RNS, it is important to set up some key robotics software and drivers in your robot system. The following is a checklist of things that Seirios RNS requires your robot system to have before Seirios is installed:

• Motor drivers

  • Ensure that the motor driver node is running properly and can be controlled via teleoperation from the command line.

  • Ensure that the motor driver node is subscribed to the /cmd_vel topic

  • Else, remap it to subscribe to /cmd_vel topic

• Sensors

  • Ensure that the sensors are launched and running properly

  • Ensure that they are publishing data to the appropriate ROS topics

  • Ensure that the lidar is publishing a 2D scan to /scan topic

• TF check

  • Ensure that all the robot links have an appropriate tf to the odom link

  • The tf tree can be visualized using $ rosrun rqt_tf_tree rqt_tf_tree

Example of TF Tree from rqt_tf_tree

TF for base_link to scan:

• Ensure that there is a direct tf link between the base_link frame and the laser frame as it is required by Seirios RNS

Direct Link/TF from base_link to laser is required

• RVIZ sensor data visualisation

  • Using RViz, visualize the sensor data. The fixed frame used should be odom

  • Add the tf visualization and ensure all the frames tfs have no warnings

RVIZ TF Display Status (All Are OK, No Warnings)