ROS (Robot Operating System) provides some standard operating system services, such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. ROS is based on a graph architecture, where processing takes place in nodes that may receive, post, and multiplex various information (such as sensor data, control, state, planning, and other messages). Currently ROS mainly supports UBUNTU OS.

Development Preparation

Hardware Equipment

• CANlight CAN communication module X1
• Laptop X1
• AGILEX Ranger mobile robot chassis X1
• Paired remote control FS-i6s for the AGILEX Ranger X1
• Circular connector on the rear of the AGILEX Ranger X1

Tested Development Environment

• Ubuntu 04
• ROS
• Git

Hardware Connection and Preparation

• Lead out the CAN cable from the top aviation plug or tail plug, and connect CAN_H and CAN_L in the CAN cable to the CAN_TO_USB adapter respectively;
• Turn on the knob switch on the chassis of the mobile robot and check whether the emergency stop switches on both sides are released;
• Connect CAN_TO_USB to the laptop's USB The connection diagram is shown in Figure 3.4.

Figure 3.4 The CAN wiring diagram

ROS Installation and Environment Setup

Please refer to http://wiki.ros.org/kinetic/Installation/Ubuntu for details