This repository contains minimal packages to control the tracer robot using ROS.
- tracer_base: a ROS wrapper around ugv_sdk to monitor and control the tracer robot
- tracer_msgs: tracer related message definitions
- Tracer
- Tracer-mini
-
Clone the packages into your colcon workspace and compile
(the following instructions assume your catkin workspace is at: ~/ros2_ws/src)
$ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws/src $ git clone https://github.com/westonrobot/ugv_sdk.git $ git clone https://github.com/agilexrobotics/tracer_ros2.git $ cd .. $ colcon build
Please execute just "colcon build" not "colcon build --symlink-install"
-
Setup CAN-To-USB adapter
-
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 tracer-ros2 package
$ cd ~/your_ws/src/ugv_sdk/scripts/ $ bash setup_can2usb.bash
-
if not the first time use tracer-ros2 package(Run this command every time you turn off the power)
$ cd ~/ros2_ws/src/ugv_sdk/scripts/ $ bash bringup_can2usb_500k.bash
-
Testing command
# receiving data from can0 $ candump can0
- Launch ROS nodes
-
Start the base node for the Tracer robot
$ ros2 launch tracer_base tracer_base.launch.py
or
$ ros2 launch tracer_base tracer_mini_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"
SAFETY PRECAUSION:
Always have your remote controller ready to take over the control whenever necessary.