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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)
Pre-installation Checks
Robot Checks
Last modified 30d ago