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ROS Packages for Hunter Mobile Base

My Notes

To start USB to CAN adapter run sudo ip link set can0 up type can bitrate 500000.

Start CANbus network add this to bashrc file:

tm is a function
tm ()
{
    sudo ip link set can0 up type can bitrate 500000;
    tmule -c $HOME/catkin_ws/src/hunter_ros/hunter_bringup/tmule/coordinator_riseholme.yaml $1
}

Use tmule to launch CANbus and ROS tmule file tm launch.

Packages

  • hunter_base: a ROS wrapper around Hunter SDK to monitor and control the robot
  • hunter_bringup: launch and configuration files to start ROS nodes
  • hunter_msgs: hunter 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. Install dependent packages

    $ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard

  2. 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/hunter_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 hunter-ros package

    $ rosrun hunter_bringup setup_can2usb.bash

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

    $ rosrun hunter_bringup bringup_can2usb.bash

  • Testing command

    # receiving data from can0
$ candump can0
  1. Launch ROS nodes

  • Start the base node for the real robot

    $ roslaunch hunter_bringup hunter_robot_base.launch

  • Start the keyboard node to control the real robot

    $ roslaunch hunter_bringup hunter_teleop_keyboard.launch

SAFETY PRECAUSION:

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