ROS provides some standard operating system services, such as hardware abstraction, low-level device control, implementation of common functions, inter-process messaging, and data packet management. ROS is based on a graphical architecture, so that processes of different nodes can receive, publish, and aggregate various information (such as sensing, control, state, planning, etc.). Currently ROS mainly supports UBUNTU.
Table of Contents
Development preparation
1. Hardware preparation
- CANlight can communication module X1
- Thinkpad E470 Laptop X1
- AGILEX BUNKER MINI 0 mobile robot chassis X1
- AGILEX BUNKER MINI 0 supporting remote control FS-i6s X1
- AGILEXBUNKER MINI 0 top aviation receptacle X1
2. Environment description of usage example
Hardware connection and preparation
- Pull out the CAN line of the BUNKER MINI 2.0 4-core aviation or rear plug, and connect the CAN_H and CAN_L in the CAN line to the CAN_TO_USB adapter respectively;
- Turn on the chassis knob switch of the BUNKER MINI 2.0 mobile robot, and check whether the emergency stop switches on both sides are released;
- Connect CAN_TO_USB to the USB port of the laptop. The connection diagram is shown in Figure 3.4.
ROS Installation and Environment Setup
Test CANABLE hardware and CAN communication