AgileX BUNKER MINI, Руководство пользователя

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13
ROS Installation and Environment Setup
AGILEX BUNKER ROS PACKAGE
Download and compile

For installation details, please refer to
http://wiki.ros.org/kinetic/Installa- tion/Ubuntu
Test CANABLE hardware and CAN
communication
Set up CAN-TO-USB

adapter Enabling
gs_usb kernel module
$ sudo modprobe gs_usb

Set 500k baud rate 和 Enabling can-to-usb adapter
$ sudo ip link set can0 up type can bitrate 500000If

no errors occurred in the previous steps, you should
be able to view the can device immediately with the
command
$ ifcon
fi g -a

Install and use can-utils to test hardware
$ sudo apt install can-utils

If the can-to-usb has been connected to the
BUNKER robot this time, and the vehicle is
powered on, use the following commands to monitor
the data from the BUNKERchassis
$ candump can0
Reference
：
 [1]https://github.com/agilexrobotics/agx_sdk
[2]https://wiki.rdu.im/_pages/Notes/Embed-
ded-System/Linux/can-bus-in-linux.html
 Download ros dependencies
$ sudo apt install
ros-$ROS_DISTRO-teleop-twist-key- board
$ sudo apt install libasio-dev
 Clone and compile the bunker_ros source code
$ cd ~/catkin_ws/src
$ git clone --recursive
https://github.com/agilexrobotics/ ugv_sdk.git
$ git clone
https://github.com/agilexrobotics/bunker_
ros.git
$ cd ..
$ catkin_make
Reference ：
https://github.com/agilexrobotics/bunker_ros
Start the ROS node

Start the base node
$ roslaunch bunker_bringup
bunker_minimal.launch Start the keyboard
remote operation node
 $ roslaunch bunker_bringup
bunker_teleop_keyboard.launch