# 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`

<figure><img src="/files/LRaauF3MUGtbW7yPN0tj" alt=""><figcaption><p>Example of TF Tree from rqt_tf_tree</p></figcaption></figure>

**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](/files/-MkL_nWKq8Vw3D0nNCqr)

* [ ] **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)](/files/-MkLa-VwBGbCfyv1CHR1)


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