mirror of
https://github.com/westonrobot/ugv_sdk
synced 2023-04-08 06:32:14 +08:00
140 lines
4.5 KiB
Markdown
Executable File
140 lines
4.5 KiB
Markdown
Executable File
# UGV SDK
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## Introduction
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This software package provides a C++ interface to communicate with the mobile platforms, for sending commands to the
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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).
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- Copyright (c) 2020-2023 [Weston Robot](https://www.westonrobot.com/)
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- Copyright (c) 2020-2023 [AgileX Robotics](http://www.agilex.ai/?lang=zh-cn)
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Please create an issue on Github at https://github.com/westonrobot/ugv_sdk/issues if you encounter any problems when
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using the packages.
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## Supported Platforms
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### Robot bases
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* Scout
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* Scout Mini
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* Hunter
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* Tracer
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* Bunker
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* Ranger Mini
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### Software environments
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* Architecture: x86_64/arm64
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* OS: Ubuntu 18.04/20.04/22.04
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* ROS: Melodic/Noetic/Foxy/Humble
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It should also work in other similar Linux environments but only the above listed environments are regularly tested.
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### Communication protocols
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| Robot | Protocol V1 | Protocol V2 | UART | CAN | Support Status |
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|:-----------------:|:-----------:|:-----------:|:----:|:---:|:--------------:|
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| Scout 1.0 | Y | - | N | Y | Discontinued |
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| Scout 2.0 | Y | Y | N | Y | Active |
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| Scout Mini (Skid) | Y | Y | - | Y | Active |
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| Scout Mini (Omni) | Y | Y | - | Y | Active |
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| Hunter 1.0 | Y | Y | - | Y | Active |
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| Hunter 2.0 | - | Y | - | Y | Active |
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| Bunker | Y | Y | - | Y | Active |
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| Tracer | - | Y | N | Y | Active |
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| Ranger Mini | - | Y | - | Y | Active |
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**Important note:** The main branch of this repository supports all Scout variants and both V1 and V2 protocol. Earlier
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versions of the SDK can be found in v1.x and v2.x branch for V1 and V2 protocol support respectively. These two branches
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are not
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actively maintained any longer and are only kept for reference.
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* V1 Protocol: v1.x branch of scout_ros and ugv_sdk
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* V2 Protocol: v2.x branch of scout_ros and ugv_sdk
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## Build SDK
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### Install dependencies
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```
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$ sudo apt-get update
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$ sudo apt-get install build-essential git cmake libasio-dev
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```
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### Build the package in a catkin workspace
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```
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$ cd <your-catkin-ws>/src
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$ git clone https://github.com/westonrobot/ugv_sdk.git
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$ cd ..
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$ catkin_make
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```
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## Setup CAN-To-USB Adapter
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1. Enable gs_usb kernel module
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```
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$ sudo modprobe gs_usb
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```
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2. Bringup can device
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```
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$ sudo ip link set can0 up type can bitrate 500000
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```
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3. If no error occured during the previous steps, you should be able to see the can device now by using command
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```
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$ ifconfig -a
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```
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4. Install and use can-utils to test the hardware
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```
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$ sudo apt install can-utils
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```
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5. Testing command
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```
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# receiving data from can0
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$ candump can0
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# send data to can0
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$ cansend can0 001#1122334455667788
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```
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Two scripts inside the "./scripts" folder are provided for easy setup. You can run "./setup_can2usb.bash" for the
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first-time setup and run "./bringup_can2usb.bash" to bring up the device each time you unplug and re-plug the adapter.
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## Log CAN Data
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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
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so, run
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```bash
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$ candump -l can0
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```
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If you're using a different CAN interface, replace "can0" with the name of your interface.
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The log file can be replayed using the following command
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```bash
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$ canplayer -I <candump-log-file-name>.log
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```
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## Sample Code
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You can find sample code for each robot in "sample" folder. For example, you can run the demo for Scout robot
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```
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$ ./bin/demo_scout_robot can0
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```
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**Important note:**
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* **The demo program may command the robot to move!** Please make sure you have the remote controller with you and the
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robot is in a safe place to move around. You can also modify the demo code to disable the motion commands.
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* If the robot is not moving as expected, please first check if the remote controller is in manual mode and if the
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E-Stop buttons are released.
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## Reference
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* [CAN command reference in Linux](https://notes.rdu.im/system/linux/canbus/)
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