Basic usage of the ROS package

1. Install dependent packages

   $ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard $ sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui $ sudo apt install ros-$ROS_DISTRO-ros-controllers

2. Clone the packages into your catkin workspace and compile

   (the following instructions assume your catkin workspace is at: ~/catkin_ws/src)

   $ cd ~/catkin_ws/src $ git clone <https://github.com/agilexrobotics/ugv_sdk.git> $ git clone <https://github.com/agilexrobotics/tracer_ros.git> $ cd .. $ catkin_make

3. Setup CAN-To-USB adapter

• Enable gs_usb kernel module(If you have already added this module, you do not need to add it)

  $ sudo modprobe gs_usb

• first time use tracer-ros package

  $rosrun tracer_bringup setup_can2usb.bash

• If not the first time use tracer-ros package(Run this command every time you turn on the power)

  $rosrun tracer_bringup bringup_can2usb.bash

1. Launch ROS nodes

• Start the base node for the real robot whith can

  $ roslaunch tracer_bringup tracer_robot_base.launch

• Start the keyboard tele-op node

  $ roslaunch tracer_bringup tracer_teleop_keyboard.launch