ROS2 Packages for Ranger Mobile Base

Packages

• ranger_base: a ROS wrapper around ranger SDK to monitor and control the robot
• ranger_msgs: ranger 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

1. Clone the packages into your catkin workspace and compile

   (the following instructions assume your catkin workspace is at: ~/ros2_ws/src)

   cd ~/ros2_ws/src
   git clone https://github.com/indro-robotics/ugv_sdk.git
   git clone https://github.com/indro-robotics/ranger_ros2.git
   cd ..
   colcon build
   

2. 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-ros2 package

  cd ~/your_ws/src/ugv_sdk/scripts/
  bash setup_can2usb.bash
  

• if not the first time use ranger-ros2 package(Run this command every time you turn off the power)

  cd ~/catkin_ws/src/ugv_sdk/scripts/
  bash bringup_can2usb_500k.bash
  

• Testing command

  # receiving data from can0
  candump can0
  

3. Launch ROS nodes

• Start the base node for the real robot

  ros2 launch ranger_base ranger_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.