AgileX TRACER MINI - ROS Node Management; Basic Node Startup; Keyboard Control Node Startup

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StarttheROSnode
Start the basic node through the can port
复 制 代 码
Start the keyboard remote operation node
复 制 代 码
Github ROS development package directory and usage instructions
*_base:: The core node for the chassis to send and receive hierarchical CAN messages. Based on
the communication mechanism of ros, it can control the movement of the chassis and read the
status of the bunker through the topic.
*_msgs: Define the specific message format of the chassis status feedback topic
*_bringup: startup files for chassis nodes and keyboard control nodes, and scripts to enable the
usb_to_can module
4Q&A
Q ： TRACERMINIstartsnormally,butthevehiclebodydoesnotmovewiththeremote
control?
A ： First, confirm whether the drive power supply is normal and whether the emergency stop
switch is released; then confirm whether the control mode selected by the mode selection switch
on the upper left side of the remote control is correct.
Q:WhentheTRACERMINIremotecontrolisnormal,thechassisstateandmotion
informationfeedbackisnormal,andthecontrolframeprotocolisissued,whythevehicle
bodycontrolmodecannotbeswitched,andthechassisdoesnotrespondtothecontrol
frameprotocol?
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$ roslaunch tracer_bringup tracer_robot_base.launch
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$ roslaunch tracer_bringup tracer_teleop_keyboard.launch