The ROS testbed driver runs as a single node. To run the software:

1. Install the software using catkin and add it to your workspace:

cd testbed_ws
catkin build
source devel/setup.bash

2. Ensure the TESTBED_SITE environment variable is set and that there’s a corresponding ${TESTBED_SITE}_config.yaml which gives the Clearpath motor serial numbers.

3. Run the testbed launchfile:

roslaunch testbed_driver testbed.launch

By default the driver runs all four axes but individual axes can be disable if they are not available:

roslaunch testbed_driver testbed.launch enable_yaw:=false