ROS Packages for Tracer Mobile Base

Packages

• tracer_base: a ROS wrapper around tracer SDK to monitor and control the robot
• tracer_bringup: launch and configuration files to start ROS nodes
• tracer_msgs: tracer related message definitions

Communication interface setup

Please refer to the README of "ugv_sdk" package for setup of communication interfaces.

Note on CAN interface on Nvidia Jetson Platforms

Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main SOC. If you're using a dev kit, you need to add a CAN transceiver for proper CAN communication.

Basic usage of the ROS package

1. Install dependent packages

   $ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard
   $ sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui
   $ sudo apt install ros-$ROS_DISTRO-ros-controllers
   

2. Clone the packages into your catkin workspace and compile

   (the following instructions assume your catkin workspace is at: ~/catkin_ws/src)

   $ cd ~/catkin_ws/src
   $ git clone https://github.com/agilexrobotics/ugv_sdk.git
   $ git clone https://github.com/agilexrobotics/tracer_ros.git
   $ cd ..
   $ catkin_make
   

3. Setup CAN-To-USB adapter

• Enable gs_usb kernel module(If you have already added this module, you do not need to add it)

  $ sudo modprobe gs_usb
  

• first time use tracer-ros package

  $rosrun tracer_bringup setup_can2usb.bash
  

• If not the first time use tracer-ros package(Run this command every time you turn on the power)

  $rosrun tracer_bringup bringup_can2usb.bash
  

4. Launch ROS nodes

• Start the base node for the real robot whith can

  $ roslaunch tracer_bringup tracer_robot_base.launch
  

• Start the keyboard tele-op node

  $ roslaunch tracer_bringup tracer_teleop_keyboard.launch
  

SAFETY PRECAUSION:

Always have your remote controller ready to take over the control whenever necessary.