ROS Packages for Hunter Mobile Base

Packages

• hunter_bringup: launch and configuration files to start ROS nodes
• hunter_base: a ROS wrapper around Hunter SDK to monitor and control the robot
• hunter_msgs: hunter related message definitions
• (hunter_robot: meta package for the Hunter robot ROS packages)

Basic Usage

1. Install dependent ROS packages

   $ sudo apt install ros-melodic-controller-manager
   $ sudo apt install ros-melodic-teleop-twist-keyboard
   

   Change ros-melodic-* in the command to ros-kinetic-* if you're using ROS Kinetic.

2. Clone the packages into your catkin workspace and compile

   (the following instructions assume your catkin workspace is at: ~/catkin_ws/src)

   $ cd ~/catkin_ws/src
   $ git clone https://github.com/CosCJ/hunter_ros.git
   $ cd ..
   $ catkin_make
   

3. Hunter communication mode

   ３．1. Can port communication

   Two scripts inside the "~/catkin_ws/src/hunter_base/src/hunter_sdk/scripts" folder are provided for easy setup.

   • If you're using can for the first time

     $ cd ~/catkin_ws/src/hunter_base/src/hunter_sdk/scripts
     $ ./setup_can2usb.bash
     

   • If you have used can communication normally

     (bring up the device each time you unplug and re-plug the adapter)

     $ cd ~/catkin_ws/src/hunter_base/src/hunter_sdk/scripts
     $ ./bringup_can2usb.bash
     

4. Launch ROS nodes

• Start the base node

  $ roslaunch hunter_bringup hunter_minimal.launch
  

• Start the keyboard tele-op node

  $ roslaunch hunter_bringup hunter_teleop_keyboard.launch