This repository contains ROS2 support packages for the Ranger robot bases to provide a ROS interface to the robot.
Ranger Mini V1.0
Ranger Mini V2.0
Ranger
$ sudo apt install libasio-dev libboost-all-dev
$ cd ~/agilex_ws/src
$ git clone https://github.com/agilexrobotics/ugv_sdk.git
$ git clone https://github.com/agilexrobotics/ranger_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 ranger-ros package
$ sudo bash /src/ranger_ros2/ranger_bringup/scripts/setup_can2usb.bash
if not the first time use ranger-ros package(Run this command every time you turn off the power)
$ sudo bash /src/ranger_ros2/ranger_bringup/scripts/bringup_can2usb.bash
Testing command
# receiving data from can0
$ candump can0
Start the base node for ranger
$ ros2 launch ranger_bringup ranger.launch #for ranger
Start the base node for ranger_mini_v1
$ ros2 launch ranger_bringup ranger_mini_v1.launch #for ranger_mini 1.0
Start the base node for ranger_mini_v2
$ ros2 launch ranger_bringup ranger_mini_v2.launch #for ranger_mini 2.0