echo series Product manual
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3.6 ROS Package Usage
The robot chassis provides an ROS interface, allowing developers to obtain
chassis information and control the chassis through the ROS package. Before use,
you need to install the ubuntu operating system and ROS robot operating system
yourself. This ROS package is compatible with Melodc under ubuntu18.04 and
Noetic under ubuntu20.04.
Please first create a workspace for ROS, copy the contents of the src folder in
XROS to the src folder in the workspace, compile the workspace, and add environ-
ment variables.
After completion, follow the following steps:
1: Run sh script for serial port
Open the terminal in path：
ros_ws/src/BASE/xpkg_comm/scripts, and enter :sh
script_init.sh to run. Alternatively, copy file:CAN2COM_HUB.rules to folder:/etc/ude-
v/rules.d.
2: Restart the system.
3: Connect the HUB, power on the chassis, and ensure that it is not squeezed
against the collision edge, keeping the power wheel suspended.
4: Run launch file.
To directly use the node, please open the terminal in directory:
workspace/src/B-
RINGUP/xpkg_bringup/launch and enter : roslaunch bringup_key_ctrl.launch to run.
If you need to use a keyboard for testing, please open the terminal in directory:
workspace/src/BRINGUP/xpkg_bringup/launch, enter : roslaunch bringup_key_ctrl.launch
to run, and use the keyboard direction keys to operate the chassis. The usage is
the same as
turtle_teleop_key.
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