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.
Table of Contents
Development Preparation
1. Hardware preparation
- CANlight can communication module ×1
- Thinkpad E470 notebook ×1
- SCOUT MINI mobile robot chassis ×1
- SCOUT MINI remote control FS-i6s ×1
- SCOUT MINI top aviation power socket ×1
2. Use example environment description
- Ubuntu 16.04 LTS (This is a test version, tasted on Ubuntu 18.04 LTS)
- ROS Kinetic (Subsequent versions are also tested)
- Git
Hardware connection and preparation
- Lead out the CAN wire of the SCOUT MINI 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 SCOUT MINI mobile robot chassis, and check whether the emergency stop switches on both sides are released.
- Connect the CAN_TO_USB to the USB hub of the laptop. The connection diagram is shown in Figure 3.4.
Figure 3.4 CAN Connection Diagram
ROS installation and environment setting