Testing Basic Functions - Tina-1/Husky-A200-Balto GitHub Wiki
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](/Tina-1/Husky-A200-Balto/wiki/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.