mirror of
https://github.com/westonrobot/ugv_sdk
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108 lines
3.6 KiB
Markdown
Executable File
108 lines
3.6 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 from Weston Robot and AgileX Robotics, 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).
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- Copyright (c) 2020 [Weston Robot](https://www.westonrobot.com/)
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- Copyright (c) 2020 [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 using the packages.
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**Supported robot platforms**
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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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**Supported environments**
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* Architecture: x86_64/arm64
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* OS: Ubuntu 16.04/18.04/20.04
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* ROS: Kinetic/Melodic/Noetic
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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 protocol**
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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 | - | TODO | Y | Discontinued |
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| Scout 2.0 | Y | Y | TODO | 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 | TODO | Y | Active |
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| Ranger Mini | - | Y | - | Y | Active |
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**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.
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* V1 Protocol: master 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 catkin workspace
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```
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$ cd <your-catkin-ws>/src
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$ git clone -b next 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 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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## Demo Code
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You can find demo code for each robot in "demo" folder. For example, 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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## Reference
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* [CAN command reference in Linux](https://rdu.im/docs/canbus)
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