AgileX Robotics (Dongguan) Co.,Ltd.
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$ sudo apt install can-utils
If can-to-usb has already been connected to SCOUT 2.0 this time and the vehicle has been
turned on, following command can be used to monitor the data from SCOUT 2.0 chassis.
$ candump can0
Reference sources:
[1] https: //github.com/westonrobot/SCOUT 2.0_sdk
[2] https：//wiki.rdu.im/_pages/Notes/Embedded-System/Linux/can-bus-in-linux.html
Download and compilation of AGILEX SCOUT 2.0 ROS Package
•
Download ROS dependent packages.
$ sudo apt install ros-melodic-controller-manager
$ sudo apt install ros-melodic-teleop-twist-keyboard
•
Clone and compile SCOUT 2.0_ros source codes.
$ cd ~/catkin_ws/src
$ git clone https://github.com/westonrobot/SCOUT 2.0_ros.git
$ cd ..
$ catkin_make
•
Reference source: https: //github.com/westonrobot/SCOUT 2.0_ros
Hardware connection and preparation
•
Lead out CAN cable from SCOUT 2.0 top or rear aviation socket, and connect the CAN_H and
CAN_L wires to the corresponding CAN_TO_USB adapter terminals;
•
Turn on the rotary switch of SCOUT 2.0 mobile robot chassis, and press down the control switch
of drive power supply. Normally, you can hear the beeper to give a "beep" sound, which means
the drive has been properly powered on; if there is no sound, check whether the E-stop switches
on both sides have been released;
•
Connect CAN_TO_USB to the usb port of laptop, and you can test again whether CAN is in
normal condition.
Launching of ROS nodes
•
Launch basic nodes.
$ roslaunchSCOUT 2.0_bringupSCOUT 2.0_minimal.launch
•
Launch remote operation nodes for keyboard.
