# 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="https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-x-prod.appspot.com/o/spaces%2F-MkBtlBrwlCbBifOLd-h-887967055%2Fuploads%2FlN8MqaHzqg4D27HAKp6t%2Fimage.png?alt=media&#x26;token=c42f2c20-e0c9-406b-8c7f-8eba08cdcbdf" 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](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MkBtlBrwlCbBifOLd-h%2F-MkLYNXCrtuMK4JJzhAI%2F-MkL_nWKq8Vw3D0nNCqr%2Fimage.png?alt=media\&token=1d17a369-4408-43e5-89d9-d99166d8a709)

* [ ] **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)](https://3011557067-files.gitbook.io/~/files/v0/b/gitbook-legacy-files/o/assets%2F-MkBtlBrwlCbBifOLd-h%2F-MkLYNXCrtuMK4JJzhAI%2F-MkLa-VwBGbCfyv1CHR1%2Fimage.png?alt=media\&token=cb54f9ef-cc85-47ff-8e56-7289c102024e)