This section provides a detailed outline for the development preparation of the AGILEX TRACER mobile robot platform, including hardware requirements, example environment description, hardware connection and preparation steps, ROS installation, and setting up AGILEX TRACER ROS packages. It lists required hardware components such as the CANlight communication module, TRACER mobile robot chassis, remote control, and top aviation power socket. The guide includes instructions for connecting hardware components, setting up ROS environment, downloading and compiling ROS packages, and starting ROS nodes for remote operation. Additionally, it provides information on the GitHub directory structure and usage instructions for the ROS development package related to TRACER.

Table of Contents

Development Preparation

Hardware preparation

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

Use example environment description

• Ubuntu 04 LTS
• ROS
• Git

Hardware connection and preparation

• Lead out the CAN wire of the TRACER 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 TRACER 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 The connection diagram is shown in Figure 3.4.

Figure 3.4 CAN connection diagram

ROS installation and environment setting

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