ROS2 Packages for Tracer Mobile Robot

Packages

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

Supported Hardware

Tracer
Tracer-mini

Basic usage of the ROS packages

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/agilexrobotics/ugv_sdk.git
$ git clone https://github.com/agilexrobotics/tracer_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 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

$ 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.

harry3doz/tracer_ros2

ROS2 Packages for Tracer Mobile Robot

Packages

Supported Hardware

Basic usage of the ROS packages