ROS2 Packages for Ranger Robot

This repository contains ROS2 support packages for the Ranger robot bases to provide a ROS interface to the robot.

Supported hardware

Ranger Mini V1.0

Ranger Mini V2.0

Ranger

Build the package

Install dependencies

$ sudo apt install libasio-dev libboost-all-dev

Clone and build the packages in a workspace

$ cd ~/agilex_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

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-ros package

$ sudo bash /src/ranger_ros2/ranger_bringup/scripts/setup_can2usb.bash

if not the first time use ranger-ros package(Run this command every time you turn off the power)
```
$ sudo bash /src/ranger_ros2/ranger_bringup/scripts/bringup_can2usb.bash
```

Testing command

# receiving data from can0
$ candump can0

Launch ROS2 nodes

Start the base node for ranger

$ ros2 launch ranger_bringup ranger.launch #for ranger

Start the base node for ranger_mini_v1

$ ros2 launch ranger_bringup ranger_mini_v1.launch #for ranger_mini 1.0

Start the base node for ranger_mini_v2

$ ros2 launch ranger_bringup ranger_mini_v2.launch #for ranger_mini 2.0

ROS interface

Parameters

can_device (string): can0
robot_model (string): ranger/ranger_mini_v1/ranger_mini_v2
update_rate (int): 50
base_frame (string): base_link
odom_frame (string): odom
publish_odom_tf (bool): true
odom_topic_name (string): odom

Published topics

/system_state (ranger_msgs::SystemState)
/motion_state (ranger_msgs::MotionState)
/actuator_state (ranger_msgs::ActuatorStateArray)
/odom (nav_msgs::Odometry)
/battery_state (sensor_msgs::BatteryState)

Subscribed topics

/cmd_vel (geometry_msgs::Twist)

agilexrobotics/ranger_ros2