ROS Packages for Ranger Robot

This repository contains ROS 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

1. Install dependencies

$ sudo apt install libasio-dev libboost-all-dev
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard

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/ranger_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 ranger_bringup setup_can2usb.bash
  

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

  $ rosrun ranger_bringup bringup_can2usb.bash
  

• Testing command

  # receiving data from can0
  $ candump can0
  

4. Launch ROS nodes

• Start the base node for ranger

  $ roslaunch ranger_bringup ranger.launch #for ranger

• Start the base node for ranger_mini_v1

  $ roslaunch ranger_bringup ranger_mini_v1.launch #for ranger_mini 1.0

• Start the base node for ranger_mini_v2

  $ roslaunch ranger_bringup ranger_mini_v2.launch #for ranger_mini 2.0

• Use keyboard to control ranger

  $ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

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 (ranger_msgs::BatteryState)

Subscribed topics

• /cmd_vel (geometry_msgs::Twist)

Services