ROS installation
For installation details, please refer to http://wiki.ros.org/kinetic/Installa- tion/Ubuntu
Hardware and CAN communication
Set CAN-TO-USB adaptor
Enable gs_usb kernel module
$ sudo modprobe gs_usb
Set 500k baud rate and enable can-to-usb adaptor
$ sudo ip link set can0 up type can bitrate 500000
If no error occurred in the previous steps, you should
be able to use the command to view the can
equipment immediately
$ ifconfig
-a
Install and use can-utils to test hardware
$ sudo apt install can-utils
If the can-to-usb has been connected to the
HUNTER SE robot this time, and the vehicle has
been turned on, use the following commands to
monitor the data from the HUNTER SE chassis
$ candump can0
Reference sources:
[1] https://github.com/agilexrobotics/agx_sdk
[2]https://wiki.rdu.im/_pages/Notes/Embed-ded-
System/Linux/can-bus-in-linux.html
HUNTER SE ROS PACKAGE download and
compile
Download ros dependent package
$ sudo apt install libasio-dev
$ sudo apt install ros-$ROS_DISTRO-teleop-twist-
keyboard
Clone and compile hunter_2_ros source code
$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/
agilexrobotics/ugv_sdk.git
$ git clone https://github.com/agilexrobotics/
hunter_ros.git
$ cd ..
$ catkin_make
Reference source:
https://github.com/agilexrobotics/hunter_ros
Start the ROS nodes
Start the base node
$ roslaunch hunter_bringup hunter_robot_base.launch
Start the keyboard remote operation node
$ roslaunch hunter_bringup hunter_teleop_key-
board.launch
