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<<TableOfContents(2)>>
This tutorial assumes that you have a Ro``ch and under these tutorials will run on Ro``ch, also [[roch]], [[roch_simulator]] and [[roch_robot]] you have installed. 

== Roch_node ==
In roch_base package has a most important node named '''''roch_node''''', which used by ''minimal.launch'' in [[roch_bringup]] for communication with MCU for send or receive command.

And in this package, we provide a launch file for testing communication using following command:
{{{
  roslaunch roch_base base.launch
}}}

If every thing normal, you can get output message in terminal: '''''[twist_marker_server] Initialized.'''''

== Demos ==

In this package, we also offer some demos for testing simple command alone, such as testing imu data, checking encoder data, know platform information, get rangefinder and also what's speed of Roch now.

=== Test demo ===

For how to use executable file '''''test_encoder''''', we can follow under steps:

 * 1. Power on your Roch, and use USB cable Roch and PC.

 * 2. Make sure '''''roscore''''' has running.
{{{
   roscore
}}}

 * 3. Run test node.
{{{
   rosrun roch_base test_encoder
}}}
 
 * 4. Run keyboard control launch.
{{{
   roslaunch roch_teleop keyboard_teleop.launch
}}}

And now you can get output message like this:
{{{
  encoder[0].distance.x:** ,encoder[1].distance.x:** .
}}}

For another four demos you can follow above steps for testing whether Roch running fine or not.

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