Basic usage of the ROS packages

1. Clone the packages into your colcon workspace and compile

   (the following instructions assume your catkin workspace is at: ~/ros2_ws/src)

   $ mkdir -p ~/ros2_ws/src $ cd ~/ros2_ws/src $ git clone <https://github.com/westonrobot/ugv_sdk.git> $ git clone <https://github.com/westonrobot/bunker_ros2.git> $ cd .. $ colcon build

2. 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 bunker-ros2 package

  $ cd ~/your_ws/src/ugv_sdk/scripts/ $ bash setup_can2usb.bash

• if not the first time use bunker-ros2 package(Run this command every time you turn off the power)

  $ cd ~/ros2_ws/src/ugv_sdk/scripts/ $ bash bringup_can2usb_500k.bash

• Testing command

  # receiving data from can0 $ candump can0

1. Launch ROS nodes

• Start the base node for the Bunker robot

  $ ros2 launch bunker_base bunker_base.launch.py

• Then you can send command to the robot

  $ ros2 topic pub /cmd_vel geometry_msgs/msg/Twist "linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0"