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ROS Packages for Tracer Mobile Base

Packages

  • tracer_base: a ROS wrapper around tracer SDK to monitor and control the robot
  • tracer_bringup: launch and configuration files to start ROS nodes
  • tracer_msgs: tracer 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 ros-$ROS_DISTRO-teleop-twist-keyboard
$ sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui
$ sudo apt install ros-$ROS_DISTRO-ros-controllers

  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/tracer_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 tracer-ros package 
    $rosrun tracer_bringup setup_can2usb.bash
  • If not the first time use tracer-ros package(Run this command every time you turn on the power) 
    $rosrun tracer_bringup bringup_can2usb.bash
  1. Launch ROS nodes

  • Start the base node for the real robot whith can

    $ roslaunch tracer_bringup tracer_robot_base.launch

  • Start the keyboard tele-op node

    $ roslaunch tracer_bringup tracer_teleop_keyboard.launch

SAFETY PRECAUSION:

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