ROS2 Packages for Percy Mobile Robot

Packages

This repository contains minimal packages to control the percy robot using ROS.

• percy_base: a ROS wrapper around ugv_sdk to monitor and control the percy robot
• percy_msgs: percy related message definitions

Supported Hardware

• Percy
• Percy-mini

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/agilexrobotics/ugv_sdk.git
   $ git clone https://github.com/agilexrobotics/percy_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 percy-ros2 package

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

• if not the first time use percy-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
  

3. Launch ROS nodes

• Start the base node for the Percy robot

  $ ros2 launch percy_base percy_base.launch.py
  

  or

  $ ros2 launch percy_base percy_mini_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" 
  
  

  SAFETY PRECAUSION:

Always have your remote controller ready to take over the control whenever necessary.

CAN test

this part is used for agilex's developers to test the CAN protocol

• enable the virtual can net

  sudo modprobe vcan
  sudo ip link add dev vcan0 type vcan
  sudo ip link set up vcan0

• then launch the fake robot

  ros2 launch percy_base percy_fake_base.launch.py

• listen to the can net in terminal

  candump vcan0

• pub some messages

  • the light control message:

  ros2 topic pub -1 /light_control percy_msgs/msg/PercyLightCmd "{cmd_ctrl_allowed: true, front_illumination_mode: 1, back_illumination_mode: 1}"

  • the light rgb message:

  ros2 topic pub -1 /light_rgb_cmd percy_msgs/msg/PercyRgbCmd "{front_left: {r_value: 1, g_value: 2, b_value: 3}, front_right: {r_value: 4, g_value: 5, b_value: 6}, back_left: {r_value: 7, g_value: 8, b_value: 9}, back_right: {r_value: 10, g_value: 11, b_value: 12}}"

  • the break mode control message:

  ros2 topic pub -1 /percy_break_mode percy_msgs/msg/PercyBreakCtl "{break_mode: 1}"

  • the power rail command:

  ros2 topic pub -1 /percy_power_rail_cmd percy_msgs/msg/PercyPowerRailCtl "{external_48v: true, external_5v: true, fan_12v: true, jetson1_12v: true, jetson2_12v: true, ultrasonic_sensor_12v: true, camera_12v: true, router_5g_12v: true, switchboard_12v: true, usb_hub_12v: true, sick_system_24v: true}"

• test the feedback messages

  • send the system state feedback message

   cansend vcan0 211#0000000000000000
   cansend vcan0 211#0101323232320001

  ros2 topic echo /percy_status
  vehicle_state: 1
  control_mode: 1
  error_code: 1
  fan_1_percentage: 50
  fan_2_percentage: 50
  fan_3_percentage: 50
  fan_4_percentage: 50

  • send the motion feedback

   cansend vcan0 221#03E803E800000000

  ros2 topic echo /percy_status
  linear_velocity: 1.0
  angular_velocity: 1.0

  • send the light state feedback

   cansend vcan0 231#0000000000000000
   cansend vcan0 231#0101000100000000

  ros2 topic echo /percy_status
  light_control_state: 1
  front_light_mode: 1
  back_light_mode: 1

  • send the light rgb feedback

   cansend vcan0 232#0001010101010100
   cansend vcan0 233#0001010101010100

  ros2 topic echo /percy_status
  front_left:
    r_value: 1
    g_value: 1
    b_value: 1
  front_right:
    r_value: 1
    g_value: 1
    b_value: 1
    ...(the same with back_left and back_right)

  • send motor state feedback

  cansend vcan0 251#000C0064000004d2
  cansend vcan0 261#00F0000000000100

  • send rc feedback

  cansend vcan0 241#AA32323232320000

  ros2 topic echo /percy_status
  rc_state:
    swa: 0
    swb: 0
    swc: 0
    swd: 0
    stick_right_v: 50
    stick_right_h: 50
    stick_left_v: 50
    stick_left_h: 50
    var_a: 0

  • send BMS feedback

  cansend vcan0 361#323204D204D2012C

  ros2 topic echo /percy_status
  bms_state:
    soc: 50
    soh: 50
    battery_voltage: 123.4000015258789
    battery_current: 123.4000015258789
    battery_temp: 30

  • send power button feedback and mechanical calibration feedback

  cansend vcan0 371#0200000000000000
  cansend vcan0 381#000004D2000004D2

  ros2 topic echo /percy_status
  powerbutton: 2
  wheel_circumference: 1234
  wheel_track: 1234