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ROS2 Packages for Percy Mobile Robot

Packages

This repository contains minimal packages to control the percy robot using ROS.

  • percy_base: a ROS wrapper around ugv_sdk to monitor and control the percy robot
  • percy_msgs: percy related message definitions

Supported Hardware

  • Percy
  • Percy-mini

Basic usage of the ROS packages

  1. 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/percy_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 percy-ros2 package

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

  • if not the first time use percy-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
  1. Launch ROS nodes

  • Start the base node for the Percy robot

    $ ros2 launch percy_base percy_base.launch.py

    or

    $ ros2 launch percy_base percy_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.

CAN test

this part is used for agilex's developers to test the CAN protocol

  • enable the virtual can net

    sudo modprobe vcan
sudo ip link add dev vcan0 type vcan
sudo ip link set up vcan0

  • then launch the fake robot

    ros2 launch percy_base percy_fake_base.launch.py

  • listen to the can net in terminal

    candump vcan0

  • pub some messages

    • the light control message:
    ros2 topic pub -1 /light_control percy_msgs/msg/PercyLightCmd "{cmd_ctrl_allowed: true, front_illumination_mode: 1, back_illumination_mode: 1}"
    • the light rgb message:
    ros2 topic pub -1 /light_rgb_cmd percy_msgs/msg/PercyRgbCmd "{front_left: {r_value: 1, g_value: 2, b_value: 3}, front_right: {r_value: 4, g_value: 5, b_value: 6}, back_left: {r_value: 7, g_value: 8, b_value: 9}, back_right: {r_value: 10, g_value: 11, b_value: 12}}"
    • the break mode control message:
    ros2 topic pub -1 /percy_break_mode percy_msgs/msg/PercyBreakCtl "{break_mode: 1}"
    • the power rail command:
    ros2 topic pub -1 /percy_power_rail_cmd percy_msgs/msg/PercyPowerRailCtl "{external_48v: true, external_5v: true, fan_12v: true, jetson1_12v: true, jetson2_12v: true, ultrasonic_sensor_12v: true, camera_12v: true, router_5g_12v: true, switchboard_12v: true, usb_hub_12v: true, sick_system_24v: true}"

  • test the feedback messages

    • send the system state feedback message
     cansend vcan0 211#0000000000000000
 cansend vcan0 211#0101323232320001
    ros2 topic echo /percy_status
vehicle_state: 1
control_mode: 1
error_code: 1
fan_1_percentage: 50
fan_2_percentage: 50
fan_3_percentage: 50
fan_4_percentage: 50
    • send the motion feedback
     cansend vcan0 221#03E803E800000000
    ros2 topic echo /percy_status
linear_velocity: 1.0
angular_velocity: 1.0
    • send the light state feedback
     cansend vcan0 231#0000000000000000
 cansend vcan0 231#0101000100000000
    ros2 topic echo /percy_status
light_control_state: 1
front_light_mode: 1
back_light_mode: 1
    • send the light rgb feedback
     cansend vcan0 232#0001010101010100
 cansend vcan0 233#0001010101010100
    ros2 topic echo /percy_status
front_left:
  r_value: 1
  g_value: 1
  b_value: 1
front_right:
  r_value: 1
  g_value: 1
  b_value: 1
  ...(the same with back_left and back_right)
    • send motor state feedback
    cansend vcan0 251#000C0064000004d2
cansend vcan0 261#00F0000000000100
    • send rc feedback
    cansend vcan0 241#AA32323232320000
    ros2 topic echo /percy_status
rc_state:
  swa: 0
  swb: 0
  swc: 0
  swd: 0
  stick_right_v: 50
  stick_right_h: 50
  stick_left_v: 50
  stick_left_h: 50
  var_a: 0
    • send BMS feedback
    cansend vcan0 361#323204D204D2012C
    ros2 topic echo /percy_status
bms_state:
  soc: 50
  soh: 50
  battery_voltage: 123.4000015258789
  battery_current: 123.4000015258789
  battery_temp: 30
    • send power button feedback and mechanical calibration feedback
    cansend vcan0 371#0200000000000000
cansend vcan0 381#000004D2000004D2
    ros2 topic echo /percy_status
powerbutton: 2
wheel_circumference: 1234
wheel_track: 1234