From 4f8c9ac1cb3f8445c59cb535bba95f3263ea73b7 Mon Sep 17 00:00:00 2001 From: Ruixiang Du Date: Fri, 31 Mar 2023 09:42:00 +0800 Subject: [PATCH] readme: updated readme --- README.md | 29 ++++++++++++++++++++++++----- 1 file changed, 24 insertions(+), 5 deletions(-) diff --git a/README.md b/README.md index 17207fe..641f0d5 100755 --- a/README.md +++ b/README.md @@ -6,7 +6,8 @@ ## Introduction This software package provides a C++ interface to communicate with the mobile platforms, for sending commands to the -robot and receiving the latest robot state. The repository is a joint effort by the development teams at Weston Robot (Singapore) and AgileX Robotics (China). +robot and receiving the latest robot state. The repository is a joint effort by the development teams at Weston Robot ( +Singapore) and AgileX Robotics (China). - Copyright (c) 2020-2023 [Weston Robot](https://www.westonrobot.com/) - Copyright (c) 2020-2023 [AgileX Robotics](http://www.agilex.ai/?lang=zh-cn) @@ -48,8 +49,9 @@ It should also work in other similar Linux environments but only the above liste | Ranger Mini | - | Y | - | Y | Active | **Important note:** The main branch of this repository supports all Scout variants and both V1 and V2 protocol. Earlier -versions of the SDK can be found in v1.x and v2.x branch for V1 and V2 protocol support respectively. These two branches are not -actively maintained any longer and only kept for reference. +versions of the SDK can be found in v1.x and v2.x branch for V1 and V2 protocol support respectively. These two branches +are not +actively maintained any longer and are only kept for reference. * V1 Protocol: v1.x branch of scout_ros and ugv_sdk * V2 Protocol: v2.x branch of scout_ros and ugv_sdk @@ -63,7 +65,7 @@ $ sudo apt-get update $ sudo apt-get install build-essential git cmake libasio-dev ``` -### Build the package in catkin workspace +### Build the package in a catkin workspace ``` $ cd /src @@ -72,7 +74,7 @@ $ cd .. $ catkin_make ``` -## Setup CAN-To-USB adapter +## Setup CAN-To-USB Adapter 1. Enable gs_usb kernel module ``` @@ -101,6 +103,23 @@ $ catkin_make Two scripts inside the "./scripts" folder are provided for easy setup. You can run "./setup_can2usb.bash" for the first-time setup and run "./bringup_can2usb.bash" to bring up the device each time you unplug and re-plug the adapter. +## Log CAN Data + +In the case that you get an issue with the robot base, you can log the CAN data to a file for further analysis. To do +so, run + +```bash +$ candump -l can0 +``` + +If you're using a different CAN interface, replace "can0" with the name of your interface. + +The log file can be replayed using the following command + +```bash +$ canplayer -I .log +``` + ## Demo Code You can find demo code for each robot in "demo" folder. For example, run the demo for Scout robot