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