ROS provide some standard operating system services, such as hardware abstraction, low-level device control, implementation of common function, inter process 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.

Table of Contents

Development Preparation

Hardware preparation

• CANlight can communication module ×1
• Thinkpad E470 notebook ×1
• AGILEX HUNTER 2.0 mobile robot chassis ×1
• AGILEX HUNTER 2.0 remote control FS-i6s ×1
• AGILEX HUNTER 2.0 top aviation power socket ×1

Use example environment description

• Ubuntu 18.04 LTS
• ROS melodic
• Git

Hardware connection and preparation

• Lead out the CAN wire of the HUNTER 2.0 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 HUNTER 2.0 mobile 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 3.4.

ROS installation and environment setting

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

Test CANABLE hardware and CAN communication