Welcome to the documentation for setting up ROS (Robot Operating System) with the AGILEX BUNKER mobile robot chassis. ROS provides a range of standard operating system services, including hardware abstraction, low-level device control, implementation of common functions, inter-process messaging, and data packet management. Designed with a graphical architecture, ROS enables processes of different nodes to receive, publish, and aggregate various information, such as sensing, control, status, planning, and more. The primary operating system supported by ROS is UBUNTU.

Table of Contents

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.

Preparation

1. Hardware preparation

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

2. Use example environment description

• Ubuntu 18.04
• ROS melodic
• Git

Hardware connection and preparation

• Lead out the CAN wire of the BUNKER 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 BUNKER 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.

Figure 3.4 CAN connection diagram

ROS installation and environment setting