Weston Robot Platform Support - ROS (wrp_ros)

About

This package contains a minimal wrapper around wrp_sdk and provides a ROS interface to hardware platforms from Weston Robot. Please first check if your device and environment are supported by the SDK and this ROS package before proceeding:

Supported Environments:

• Architecture: x86_64/arm64
• OS: Ubuntu 18.04/20.04
• ROS: Melodic/Noetic

Supported Robots:

• Scout
• Scout Mini
• Tracer

Supported Peripherals:

• Power Regulator V2.1
• Ultrasonic Sensor
• Hipnuc and WitMotion IMU
• NMEA-compatible GPS Receiver

More details can be found in the README inside individual src sub-folders

• Mobile Base Node
• Peripheral Nodes

Build the package

Install dependencies

• wrp_sdk >= v1.0.2: please follow setup instructions from here

Build the package

$ cd <your-catkin-workspace>/src
$ git clone https://github.com/westonrobot/wrp_ros
$ cd ..
$ catkin_make
$ source devel/setup.bash

Setup CAN-To-USB adapter

1. Enable gs_usb kernel module

   $ sudo modprobe gs_usb
   

2. Bringup can device

   # (NOTE: refer to the following table for the correct bitrate)
   $ sudo ip link set can0 up type can bitrate 500000
   $ sudo ip link set can0 txqueuelen 1000
   

   Hardware	CAN Bitrate
   Scout V2.0	500000
   Scout V2.5	1000000
   Scout Mini	500000
   Power Regulator	500000
   Otherwise if unspecified	500000

3. If no error occured during the previous steps, you should be able to see the can device now by using command

   $ ifconfig -a
   

4. Install and use can-utils to test the hardware

   $ sudo apt install can-utils
   

5. Testing command

   # receiving data from can0
   $ candump can0
   # send data to can0
   $ cansend can0 001#1122334455667788
   

Scripts are provided here for convenience. You can run "./setup_can2usb.bash" for the first-time setup and run "./bringup_can2usb_1m.bash" to bring up the device each time you unplug and re-plug the adapter.

Example Usage

You can find more information about robot base control from this page.

You may need to change runtime parameters by editing the corresponding launch file

1. Mobile Base Node (and variants)

   roslaunch wrp_ros scout_base.launch

2. Power Regulator Node

   roslaunch wrp_ros power_regulator.launch

3. GPS Receiver Node

   roslaunch wrp_ros gps_receiver.launch 

4. IMU Sensor Node

   roslaunch wrp_ros imu_sensor.launch 

5. Ultrasonic Sensor Node

   roslaunch wrp_ros ultrasonic_sensor.launch