Testing Basic Functions

Testing Basic Functions

Basic functionality was tested on balto's onboard PC (namespace a200_0681) using ROS 2 Jazzy in a venv (see ROS 2 Jazzy on the Onboard PC). Go through the Safety Checklist first.

Verified working

Test	Result
Platform	Ubuntu 24.04 / ROS 2 Jazzy, full Clearpath stack running
Keyboard teleop	Drives the robot — see Driving with the Keyboard. cmd_vel is TwistStamped, not Twist
Odometry	Tracks commands in both linear and angular motion
Sign convention	Standard: j → positive angular.z → counter-clockwise
Velocity ramp	Velocity is ramped: ~0.3 s from command to speed; peak ~0.355 rad/s on a 1 s press
E-stop	Cuts motion immediately and does not auto-resume
Battery	90%, two balanced 12.6 V cells

Still to test

• Localization (see Known Issues: UWB dropped, GPS not on the robot yet).
• The RL pipeline end to end — see RL Nodes.