ROS2 Packages for Ranger Robot

This repository contains ROS2 support packages for the Ranger robot bases to provide a ROS interface to the robot.

Supported hardware

• Ranger Mini V1.0

• Ranger Mini V2.0

• Ranger

Build the package

• Install dependencies

$ sudo apt install libasio-dev libboost-all-dev

• Clone and build the packages in a colcon workspace

$ cd ~/ros2_ws/src
$ git clone https://github.com/westonrobot/ugv_sdk.git
$ git clone https://github.com/westonrobot/ranger_ros2.git
$ cd ..
$ colcon build --symlink-install

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 ranger-ros package

   $ sudo bash /src/ranger_ros2/ranger_bringup/scripts/setup_can2usb.bash
   

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

   $ sudo bash /src/ranger_ros2/ranger_bringup/scripts/bringup_can2usb.bash
   

• Testing command

    # receiving data from can0
    $ candump can0
    

Launch ROS2 nodes

• Start the base node for ranger

    $ ros2 launch ranger_bringup ranger.launch #for ranger
    

• Start the base node for ranger_mini_v1

    $ ros2 launch ranger_bringup ranger_mini_v1.launch #for ranger_mini 1.0
    

• Start the base node for ranger_mini_v2

    $ ros2 launch ranger_bringup ranger_mini_v2.launch #for ranger_mini 2.0
    

• Start the base node for ranger_mini_v3

    $ ros2 launch ranger_bringup ranger_mini_v3.launch #for ranger_mini 3.0
    

ROS interface

Parameters

• can_device (string): can0
• robot_model (string): ranger/ranger_mini_v1/ranger_mini_v2/ranger_mini_v3
• update_rate (int): 50
• base_frame (string): base_link
• odom_frame (string): odom
• publish_odom_tf (bool): true
• odom_topic_name (string): odom

Published topics

• /system_state (ranger_msgs::SystemState)
• /motion_state (ranger_msgs::MotionState)
• /actuator_state (ranger_msgs::ActuatorStateArray)
• /odom (nav_msgs::Odometry)
• /battery_state (sensor_msgs::BatteryState)

Subscribed topics

• /cmd_vel (geometry_msgs::Twist)

Services

• /ranger_base_node/parking_service (ranger_msgs::srv:TriggerParkMode)