ROS Packages for Tracer Mobile Base

Packages

tracer_base: a ROS wrapper around tracer SDK to monitor and control the robot
tracer_bringup: launch and configuration files to start ROS nodes
tracer_msgs: tracer related message definitions

Communication interface setup

Please refer to the README of "ugv_sdk" package for setup of communication interfaces.

Note on CAN interface on Nvidia Jetson Platforms

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.

Basic usage of the ROS package

Install dependent packages

$ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard
$ sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui
$ sudo apt install ros-$ROS_DISTRO-ros-controllers

Clone the packages into your catkin workspace and compile

(the following instructions assume your catkin workspace is at: ~/catkin_ws/src)

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

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-ros package

$rosrun tracer_bringup setup_can2usb.bash

If not the first time use tracer-ros package(Run this command every time you turn on the power)
```
$rosrun tracer_bringup bringup_can2usb.bash
```

Launch ROS nodes

Start the base node for the real robot whith can

$ roslaunch tracer_bringup tracer_robot_base.launch

Start the keyboard tele-op node

$ roslaunch tracer_bringup tracer_teleop_keyboard.launch

SAFETY PRECAUSION:

Always have your remote controller ready to take over the control whenever necessary.