ROS provides some standard operating system services, such as hardware abstraction, low-level equipment control, implementation of common functions, inter-process message and data packet management. ROS is based on a graph architecture, so that processes of different nodes can receive, release, and aggregate various information (such as sensing, control, status, planning, etc.). Currently ROS mainly supports UBUNTU.

Table of Contents

Hardware preparation

• CANlight can communication module X1
• ThinkPad E470 notebook X1
• AGILEX HUNTER SE mobile robot chassis X1
• AGILEX HUNTER SE supporting remote control FS-i6sX1.
• AGILEX HUNTER SE rear aviation socket X1

Use example environment description

• Ubuntu 18.04 LTS
• ROS melodic
• Git

Hardware connection and preparation

• Lead out the CAN cable of the HUNTER SE tail plug and connect CAN_H and CAN_L in the CAN cable to the CAN_TO_USB adapter respectively.
• Turn on the knob switch on the HUNTER SE mobile robot chassis, and check whether the emergency stop switches on both sides are released.
• Connect the CAN_TO_USB to the usb interface of the notebook. The connection diagram is shown in Figure3.4.

Figure 3.4 CAN Connection Diagram

ROS installation

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

Test CANABLE hardware and CAN communication