ROS provide some standard operating system services, such as hardware abstraction, low-level device control, implementation of common function, interprocess message and data packet management. ROS is based on a graph architecture, so that process of different nodes can receive, and aggregate various information (such as sensing, control, status, planning, etc.) Currently ROS mainly support UBUNTU.

Preparation

Hardware preparation

• CANlight can communication module ×1
• Thinkpad E470 notebook ×1
• AGILEX BUNKER PRO 2 mobile robot chassis ×1
• AGILEX BUNKER PRO 2remote control FS-i6s ×1
• AGILEX BUNKER PRO 2 top aviation power socket ×1

Use example environment description

• Ubuntu 18.04
• ROS melodic
• Git

Hardware connection and preparation

Lead out the CAN wire of the BUNKER PRO 2 top aviation plug or the tail plug, and connect CAN_H and CAN_L in the CAN wire to the CAN_TO_USB adapter respectively;

Turn on the knob switch on the BUNKER PRO 2mobile robot chassis, and check whether the emergency stop switches on both sides are released；

Connect the CAN_TO_USB to the usb point of the notebook. The connection diagram is shown in Figure below.

Figure above CAN connection diagram

ROS installation and environment setting

• For installation details, please refer to http://wiki.ros.org/kinetic/Installation/Ubuntu