ROS SDK User Guide


ROS-SDK

Installing ROS Packages

Tip

Supported ROS versions:

Ubuntu 20.04

Ubuntu 22.04

Note, Ubuntu 18.04 version is not supported. Use docker to run a newer Ubuntu if you just have to.

Warning Note, before downloading the package, you need to have ROS installed and source the version you need to use. Otherwise, the downloaded package will not be usable.

In the path where you want to install the SDK, open the terminal and enter the following command:

wget -O hextool.bash https://ros.dl.hexmove.cn/ros.dl/hextool.bash && bash hextool.bash

Tip To prevent typos when typing commands, it is recommended to use the browser that comes with Ubuntu to open this website and copy the command from the browser to the terminal.

This is an EXAMPLE, installing the orcs-diff sdk.

PLEASE SELECT the correct SDK according to what you have purchased.

SDK Package Structure Description

The packages are similar, here is an example with ORCS-DIFF.

root@1c2edac84f0b:~# tree -d -L 5
.
└── sdk_orcs_diff_ws
    └── src
        ├── demo
        │   └── demo_general_chassis
        │       ├── demo_vehicle
        │       └── tools
        └── drivers
            └── xpkg_vehicle
                ├── include
                ├── ini
                ├── launch
                ├── scripts
                ├── src
                └── tools

14 directories

Warning Note, the launch files in the demo folder are designed to only start one at a time. Do not launch multiple launch files simultaneously.

If you are not professionally guided, do not modify any packages other than the demo folder.

Using the SDK Package

The package provides a test demo, please refer to Using ROS Demo

Using ROS demo

Pre-launch Check

Tip Please first acquire basic knowledge of ROS. You can refer to the ROS1 Tutorial and ROS2 Tutorial to understand the common conventions of the ROS system.

Please ensure the following are completed:

  1. ROS-SDK installation is complete; if it is your first time installing the SDK, it is recommended to restart after the first installation.

  2. Compilation has been completed without errors.

  3. The workspace has been sourced.

  4. If using the CAN-COM HUB, ensure the CAN bus is correctly connected and devices can be detected.

    • Use lsusb in the terminal to see the following devices.

  5. Ensure the remote control is turned off; or if it is on, ensure it is set to CAN mode.

    For information about the remote control and modes, please refer to the remote control section in the product user manual.

Chassis Devices

Warning Be cautious, when attempting to control the robot with software for the first time, ensure there are no obstacles within the robot's range of motion, or elevate the robot.

There are two test demos for the chassis:

* demo_basic_ctrl.launch
* demo_key_ctrl.launch

demo_basic_ctrl.launch is a standard launch file that can be used directly with autonomous driving, controlling the robot's movement via the /cmd_vel topic.

demo_key_ctrl.launch supports keyboard control, using turtle_teleop_key to control the robot with the keyboard. If you have not yet seen the ROS turtlesim tutorial, please check it out first.

Tip Note that the movement is not controlled with the arrow keys, please check the usage tips printed in the terminal and press the forward button indicated.

Successful launch will display the following terminal message

startup.png

For parameter settings and communication msg in the launch file, please refer to the src/drivers/xpkg_vehicle/README.md file, below are explanations of a few key parameters:

!!!note If the chassis cannot be controlled, it may be because mode_can_lock is set to false, and it has been switched to another mode.

After successfully launching the package, you can view ROS topics through rostopic list, below are a few key topics:

Rviz Navigation Plugin

This plugin is only compatible with ROS1 version.

 Marker Setting

marker setting.png

To set the size of the markers for target points, you can adjust the marker scale factor (1.0 is the default value). Remember to click "SET" to refresh all the markers.

mark.png

The marker consists of two parts: the numerical part represents the sequence number of the target point, an d the arrow part indicates the stopping direction of the target point.

Add Goal

add goal.png

  1. Please use the built-in functionality of Rviz (2dnave.png) to select the goal point on the map.
  2. You can fine-tune the coordinate position by entering the X, Y, and R values.
  3. If you need to go directly to the goal point, click on the GOTO button.
  4. If you need to add a goal to the goal list, click on the ADD GOAL TO LIST button.
  5. If the current goal and the previous goal on the goal list are too far, an intermediate goal point will be automatically inserted in the list. The maximum allowable deviation distance can be modified in the interface shown above, with the default being 10 meters.

Goal List Management

goal list.png

Mode Setting

mode.png

This is used to set execution mode for goal points in the list.

cycle mode After executing the last goal point, the system will continue to execute the first goal point.
sequence mode After executing all goal points in the list, the system will stop.
step mode Goals will be executed one by one in the listed order.

To smooth the path, you can adjust the Goal Tolerance setting. Once the robot enters the radius of this distance from the target point, it will automatically move to the next target point. The smaller the environment, the smaller this value needs to be. This setting does not affect the arrival at the final destination point.

Start Control

control.png