ROS2 Packages for Tracer Mobile Robot

Packages

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

• tracer_base: a ROS wrapper around ugv_sdk to monitor and control the tracer robot
• tracer_msgs: tracer related message definitions

Supported Hardware

• Tracer
• Tracer-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/tracer_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 tracer-ros2 package

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

• if not the first time use tracer-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
  

3. Launch ROS nodes

• Start the base node for the Tracer robot

  $ ros2 launch tracer_base tracer_base.launch.py
  

  or

  $ ros2 launch tracer_base tracer_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.