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updated readme

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Ruixiang Du
2021-04-08 11:22:59 +08:00
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17
README.md
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# ROS Packages for Scout Mobile Robot # ROS Packages for Scout Mobile Robot
**Important Note:** Currently we're transitioning the communication protocol from version 1 to version 2. Please check with Weston Robot or AgileX Robotics to confirm which version your robot is using.
* V1 Protocol: master branch of scout_ros and ugv_sdk
* V2 Protocol: v2.x branch of scout_ros and ugv_sdk
## Packages ## Packages
This repository contains minimal packages to control the scout robot using ROS. This repository contains minimal packages to control the scout robot using ROS.
@@ -40,7 +45,6 @@ Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main
1. Install dependent libraries 1. Install dependent libraries
``` ```
$ sudo apt install -y libasio-dev
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard $ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
``` ```
@@ -50,8 +54,8 @@ Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main
``` ```
$ cd ~/catkin_ws/src $ cd ~/catkin_ws/src
$ git clone -b v2.x https://github.com/westonrobot/ugv_sdk.git
$ git clone https://github.com/westonrobot/async_port.git $ git clone https://github.com/westonrobot/async_port.git
$ git clone -b v2.x https://github.com/westonrobot/ugv_sdk.git
$ git clone -b v2.x https://github.com/westonrobot/scout_ros.git $ git clone -b v2.x https://github.com/westonrobot/scout_ros.git
$ cd .. $ cd ..
$ catkin_make $ catkin_make
@@ -72,15 +76,6 @@ Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main
- model_xacro: specifies the target ".xacro" file for the publishing of tf frames, default = [scout_v2.xacro](scout_base/description/scout_v2.xacro) - model_xacro: specifies the target ".xacro" file for the publishing of tf frames, default = [scout_v2.xacro](scout_base/description/scout_v2.xacro)
- odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom" - odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom"
or (if you're using a serial port)
```
$ roslaunch scout_bringup scout_minimal_uart.launch
```
- Similarly, the [scout_bringup_uart.launch](scout_bringup/launch/scout_minimal_uart.launch) has the same 4 parameters with port_name default = "/dev/ttyUSB0".
* Start the keyboard tele-op node * Start the keyboard tele-op node
``` ```

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scout_bringup/launch/scout_minimal_uart.launch
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<launch>
<arg name="port_name" value="/dev/ttyUSB0" />
<arg name="simulated_robot" value="false" />
<arg name="model_xacro" default="$(find scout_description)/urdf/scout_v2.xacro" />
<arg name="odom_topic_name" default="odom" />
<include file="$(find scout_base)/launch/scout_base.launch">
<arg name="port_name" default="$(arg port_name)" />
<arg name="simulated_robot" default="$(arg simulated_robot)" />
<arg name="odom_topic_name" default="$(arg odom_topic_name)" />
</include>
<include file="$(find scout_description)/launch/description.launch">
<arg name="model_xacro" default="$(arg model_xacro)" />
</include>
</launch>