Note on CAN interface on Nvidia Jetson Platforms

Nvidia Jeston TX2/Xavier/XavierNX have CAN controller(s) integrated in the main SOC. If you're using a dev kit, you need to add a CAN transceiver for proper CAN communication.

Basic usage of the ROS packages

1. Install dependent libraries

   $ sudo apt install -y libasio-dev $ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard

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/scout_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 scout-ros package

  $ rosrun scout_bringup setup_can2usb.bash

• if not the first time use scout-ros package(Run this command every time you turn off the power)

  $ rosrun scout_bringup bringup_can2usb.bash

• Testing command

  # receiving data from can0 $ candump can0

1. Launch ROS nodes

• Start the base node for scout

  $ roslaunch scout_bringup scout_robot_base.launch

  The scout_bringup/scout_minimal.launch has 5 parameters:

  • port_name: specifies the port used to communicate with the robot, default = "can0"
  • simulated_robot: indicates if launching with a simulation, default = "false"
  • model_xacro: specifies the target ".xacro" file for the publishing of tf frames, default = scout_v2.xacro
  • odom_topic_name: sets the name of the topic which calculated odometry is published to, defaults = "odom"
  • is_scout_mini:Suitable for chassis of type scout_mini,defaults = "false"

• Start the base node for scout-mini

  $ roslaunch scout_bringup scout_mini_robot_base.launch

• Start the base node for scout-min(omni mode)

  $ roslaunch scout_bringup scout_miniomni_robot_base.launch

• Start the keyboard tele-op node

  $ roslaunch scout_bringup scout_teleop_keyboard.launch