- ranger_base: a ROS wrapper around Hunter SDK to monitor and control the robot
- ranger_msgs: ranger related message definitions
Please refer to the README of "ugv_sdk" package for setup of communication interfaces.
Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main SOC. If you're using a dev kit, you need to add a CAN transceiver for proper CAN communication.
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Clone the packages into your ROS2 workspace and compile
(the following instructions assume your ROS2 workspace is at: ~/ros2_ws/src)
$ cd ~/ros2_ws/src $ git clone https://github.com/agilexrobotics/ugv_sdk.git $ git clone https://github.com/agilexrobotics/ranger_ros2.git $ cd .. $ colcon build -
Setup CAN-To-USB adapter
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Enable gs_usb kernel module(If you have already added this module, you do not need to add it)
$ sudo modprobe gs_usb -
first time use ranger-ros2 package
$ cd ~/your_ws/src/ugv_sdk/scripts/ $ bash setup_can2usb.bash -
if not the first time use ranger-ros2 package(Run this command every time you turn off the power)
$ cd ~/catkin_ws/src/ugv_sdk/scripts/ $ bash bringup_can2usb_500k.bash -
Testing command
# receiving data from can0 $ candump can0
- Launch ROS nodes
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Start the base node for the real robot
$ ros2 launch ranger_base ranger_base.launch.py -
Then you can send command to the robot
$ ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0" -
Then you can send command to the changed ranger motion_mode
$ ros2 topic pub /ranger_setting ranger_msgs/msg/RangerSetting "header: stamp: sec: 0 nanosec: 0 frame_id: '' motion_mode: 0" -
The motion_mode:
motion_mode ： 0 前后阿克曼模式 MOTION_MODE_ACKERMAN = 0
motion_mode ： 1 斜移模式 MOTION_MODE_SLIDE = 1
motion_mode ： 2 自旋模式 MOTION_MODE_ROUND = 2
motion_mode ： 3 横移模式 MOTION_MODE_SLOPING = 3
SAFETY PRECAUSION:
Always have your remote controller ready to take over the control whenever necessary.