agilexrobotics/titan_ros

ROS Packages for Titan Robot

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

Supported hardware

• Titan

Build the package

1. Install dependencies

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

2. Clone and build the packages in a catkin workspace

$ cd ~/catkin_ws/src
$ git clone https://github.com/agilexrobotics/ugv_sdk.git
$ git clone https://github.com/agilexrobotics/titan_ros.git
$ cd ..
$ catkin_make

3. 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 scout-ros package

  $ rosrun titan_bringup setup_can2usb.bash
  

• if not the first time use scout-ros package(Run this command every time you turn off the power)

  $ rosrun titan_bringup bringup_can2usb.bash
  

• Testing command

  # receiving data from can0
  $ candump can0
  

4. Launch ROS nodes

• Start the base node for titan

  $ roslaunch titan_bringup titan.launch #for titan

ROS interface

Parameters

• can_device (string): can0
• robot_model (string): titan
• 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 (titan_msgs::SystemState)
• /actuator_state (titan_msgs::ActuatorStateArray)
• /odom (nav_msgs::Odometry)
• /battery_state (titan_msgs::BatteryState)

Subscribed topics

• /cmd_vel (geometry_msgs::Twist)