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:
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