ROS2 Packages for Hunter Mobile Base

Packages

• ranger_base: a ROS wrapper around Hunter 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 ROS2 workspace and compile

   (the following instructions assume your ROS2 workspace is at: ~/ros2_ws/src)

   $ cd ~/ros2_ws/src
   $ git clone https://github.com/agilexrobotics/ugv_sdk.git
   $ git clone https://github.com/agilexrobotics/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" 
  
  

• Then you can send command to the changed ranger motion_mode

  $ ros2 topic pub /ranger_setting ranger_msgs/msg/RangerSetting "header:
  stamp:
  sec: 0
  nanosec: 0
  frame_id: ''
  motion_mode: 0" 
  

• The motion_mode:

motion_mode ： 0    前后阿克曼模式 MOTION_MODE_ACKERMAN = 0
motion_mode ： 1    斜移模式      MOTION_MODE_SLIDE = 1
motion_mode ： 2    自旋模式      MOTION_MODE_ROUND = 2
motion_mode ： 3    横移模式      MOTION_MODE_SLOPING = 3

SAFETY PRECAUSION:

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