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ROS2 Packages for Bunker Mobile Robot

Packages

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

  • bunker_base: a ROS wrapper around ugv_sdk to monitor and control the bunker robot
  • bunker_msgs: bunker related message definitions

Supported Hardware

  • Bunker
  • Bunker_mini
  • Bunker pro

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/bunker_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 bunker-ros2 package

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

  • if not the first time use bunker-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 Bunker robot

    $ ros2 launch bunker_base bunker_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.