AgileX HUNTER SE User manual

HUNTER SE
AgileX Robotics Team
User Manual
2021.11.30

This chapter contains important safety information; before the robot is powered on for the first time, any individual
or organization must read and understand this information before using the device. If you have any questions about
use, please contact us at [e-mail]. Please follow and implement all assembly instructions and guidelines
in the chapters of this manual, which is very important. Particular attention should be paid to the text related to the
warning signs.

Safety Information
The information in this manual does not include the design, installation and operation of a complete robot
application, nor does it include all peripheral equipment that may affect the safety of the complete system. The
design and use of the complete system need to comply with the safety requirements established in the standards
and regulations of the country where the robot is installed.
HUNTER SE integratorsand end customers have the responsibilityto ensure compliance with the applicable laws
and regulations of relevant countries, and to ensure that there are no major dangers in the complete robot
application. This includes but is not limited to the following:
1. Effectiveness and responsibility
Make a risk assessment of the complete robot
system.
Connect the additional safety equipment of other
machinery defined by the risk assessment together.
Confirm that the design and installation of the entire
robot system's peripheral equipment, including
software and hardware systems, are correct.
This robot does not have the relevant safety
functions of a complete autonomous mobile robot,
including but not limited to automatic anti-collision,
anti-falling, creature approach warning, etc.
Relevant functions require integrators and end
customers to conduct safety assessment in
accordance with relevant provisions and applicable
laws and regulations to ensure that the developed
robot is free of any major hazards and hidden
dangers in practical application.
Collect all the documents in the technical file:
including risk assessment and this manual.
2. Environmental
For the first use, please read this manual carefully to
understand the basic operating content and operating
specification.
It is strictly forbidden to carry people
For remote control operation, select a relatively open
area to use HUNTER SE, because it is not equipped
with any automatic obstacle avoidance sensor.Please
keep a safe distance of more than 2 meters when
HUNTER SE is moving.
Use HUNTER SE under -10°C~45°C
ambient temperature.
The waterproof and dust-proof capability of
HUNTER SE is IP22.
3. Pre-work Checklist
Make sure each equipment has sufficient power.
Make sure the vehicle does not have any obvious
defects.
Check if the remote controller battery has sufficient
power.
When using, make sure the emergency stop switch
has been released.
4. Operation
Make sure the area around is relatively spacious in
use.
Carry out remote control within the range of
visibility.
The maximum load of HUNTERSE is 50KG.
When in use, ensure that the payload does not
exceed 50KG.
When installing an external extension, confirm the
position of the center of mass of the extension and
make sure it is at the center of the vehicle.
Please charge in time when the equipment is low
battery alarm.
When the equipment has a defect, please
immediately stop using it to avoid secondary

damage.
5. Maintenance
Regularly check the pressure of the tire, and keep the
tire pressure at about 2.0 BAR.
If the tire is severely worn or burst, please replace it
in time.
If the battery is not used for a long time, the battery
needs to be charged periodically every 2 to 3
months.
When the equipment has a defect, please contact the
relevant technical to deal with it, and do not handle
the defect by yourself.
Please use it in an environment that meets the
requirements of the protection level according to the
IP protection level of the equipment.
When charging, make sure the ambient temperature
is above 0°C.

CONTEXT
AgileX Robotics Team................................................................................................. 1
1. HUNTER SE Introduction ................................................................................................6
1.1 Component list ........................................................................................................6
1.2 Tech specifications..................................................................................................6
1.3 Requirement for development................................................................................8
2. The Basics ..........................................................................................................................8
2.1 Status indication...................................................................................................... 10
2.2 Instructions on electrical interfaces....................................................................... 10
2.2.1 Instructions on rear electrical interface..............................................................10
2.3 Instructions on remote control................................................................................11
2.4 Instructions on control demands and movements..................................................11
3. Getting Started ............................................................................................................... 12
3.1 Use and operation................................................................................................... 12
3.2 Charging and battery replacement.........................................................................12
3.3 Development........................................................................................................... 13
3.3.2CAN cable connection ........................................................................................ 20
3.3.3Implementation of CAN command control ....................................................... 20
3.4 HUNTERSE ROS Package use example............................................................. 20
4. Precautions..................................................................................................................... 23
5. Q&A ................................................................................................................................. 24
6. Product Dimensions..................................................................................................... 25

1. HUNTER SE Introduction
HUNTERSE is an Ackermann model programmable UGV (UNMANNED GROUND VEHICLE), which is a
chassis designed with Ackermann steering, with similar characteristics to cars, and has obvious advantages on
ordinary cement and asphalt roads. Compared with the four-wheel differential chassis, HUNTERSE has higher
load capacity, can achieve higher movement speed, and at the same time wear less to the structure and tires,
suitable for long-term work. Although HUNTERSE is not designed for all-terrain, it is equipped with swing arm
suspension and can pass through common obstacles such as speed bumps. Stereo camera, lidar, GPS, IMU,
manipulator and other equipment can be optionally installed on HUNTERSE for extended applications.
HUNTERSE can be applied to unmanned inspection, security, scientific research, exploration, logistics and other
fields.
1.1
Component list
Name quantity
HUNTER SE robot body X1
Battery charger (AC 220V) X1
Aviation plug (4Pin) X1
FS remote control transmitter (optional) X1
USB to CAN communication module X1
1.2
Tech specifications
Parameter Types Items Values
Mechanical parameters L ×W ×H (mm) 820X 640 X 310
Wheelbase (mm)
Front/rear wheel base (mm)
460
550
Weight of vehicle body (Kg) 42
Batterytype Lithium battery 24V 30Ah/60Ah
Power drive motor DC brush-less 2 X 350W
Steering drive motor DC brush-less 105W
Reduction gearbox 1：4
Steering Front wheel Ackermann
Encoder Magnetic encoder 1000
Maximum inner wheel steering angle 22°
Safety equipment Anti-collision beam
Performance parameters Steering accuracy
No-load highest
0.5°
4.8

speed (m/s)
Minimum turningradius(m)
Maximum climbing capacity
Minimum ground clearance (mm)
Operating temperature
Load
1.9
20°
120 (through angle 45°)
-10~45C°
50kg remote control
Control parameters Control mode Remote control
Command control mode
RC transmitter 2.4G/extreme distance 200m
Communication Interface CAN

1.3
Requirement for development
FS RC transmitter is provided (optional) in the factory setting of HUNTER SE, which allows users to control the
chassis of robot to move and turn; HUNTER SE is equipped with CAN interface, and users can carry out
secondary development through it.
1. The Basics
This section will give a basic introduction to the HUNTER SE mobile robot chassis, so that users and developers
have a basic understanding of the HUNTER SE chassis. Figures 2.1 and 2.2 below provide the views of the entire
mobile robot chassis.
1.Profile Support
2. Top cabin panel
3. Emergency stop button
4. Steering mechanism
Figure 2.1 Front View
1. Emergency stop switch
2. Rear electrical panel
3.Battery replacement pane
Figure 2.2 Rear View

HUNTER SE adopts a modular and intelligent design concept as a whole. The vacuum rubber wheel and
powerful DC brush-less servo motor are used on the power module, which makes the HUNTER SE robot
chassis development platform have a strong pass ability. And it is also easy for HUNTER SE to cross obstacles
with the front wheel bridge suspension. Emergency stop switches are installed on both sides of the vehicle body, so
that emergency stop operations can be performed quickly in the event of an emergency, so as to avoid safety
accidents and reduce or avoid unnecessary losses. The rear of HUNTER SE is equipped with an open electrical
interface and communication interface, which is convenient for customers to carry out secondary development.
The electrical interface adopts aviation waterproof connectors in the design and selection, which is beneficial to the
expansion and use of users on the one hand, and enables the robot platform to be used in some harsh environments
on the other hand.

2.1 Status indication
Users can identify the status of vehicle body through the voltmeter, the beeper and lights mounted on
HUNTERSE. For details, please refer to Figure 2.1.
Status Description
Current voltage The current battery voltage can be viewed through the
voltmeter in the rear electrical panel.
Low voltage alarm When the battery voltage is lower than 24.5V, the vehicle
body will give a beep-beep-beep sound as a warning. When
the battery voltage is detected as lower than 24.5V,
HUNTERSE will actively cut off the power supply to
external extensions and drive to prevent the battery from
being damaged. In this case, the chassis will not enable
movement control and accept external command control.
2.2 Instructions on electrical interfaces
2.2.1 Instructions on rear electrical interface
The extension interface at the rear is shown in Figure 2.6, in which Q1 is the charging interface; Q2 is the power
switch; Q3 is the power display interaction; Q4 is the CAN and 24V power extension interface.
The definition of Q4’s specific pin
is shown in Figure 2.7.
Figure 2.7 Pin Instruction of the Rear Aviation Interface
Pin No. Pin Type Function
and
Definition
Remarks
1 Power VCC Power positive, voltage
range 24.5~26.8v,
maximum current 10A
2 Power GND Power negative
3 CAN CAN_H CAN bushigh
4 CAN CAN_L CAN buslow

2.3 Instructions on remote control
FS remote control is an optional accessory for HUNTERSE. Customers can choose according to actual needs. The
remote control can easily control the HUNTERSE universal robot chassis. In this product, we use the left-hand
throttle design. Refer to Figure 2.8 for its definition and function.
The functions of the buttons are defined as: SWC and SWA are temporarily disabled; SWB is the control mode
selection button, dialed to the top is the command control mode, and dialed to the middle is the remote control
mode; SWD is the front light switch button; dial it to the top to turn on the light, and dial it to the bottomto turn off
the light; S1 is the throttle button, which controls the HUNTER SE forward and backward; S2 controls the steering
of the front wheel, while POWER is the power button, and you can turn on the remote control by pressing them at
the same time.
Figure 2.8Schematic diagram of the FS remote controlbuttons
The functions of the buttons are defined as: SWC and SWA are temporarily disabled; SWB is the control mode
selection button, dialed to the top is the command control mode, and dialed to the middle is the remote control
mode; SWD is the front light switch button; dial it to the top to turn on the light, and dial it to the bottomto turn off
the light; S1 is the throttle button, which controls the HUNTER SE forward and backward; S2 controls the steering
of the front wheel, while POWER is the power button, and you can turn on the remote control by pressing them at
the same time.
2.4 Instructions on control demands and movements
We set up a coordinate reference system for ground mobile vehicle according to the ISO 8855 standard as shown
in Figure 2.9.
Figure 2.9 Schematic Diagram of Reference Coordinate System for Vehicle Body
As shown in Figure 2.9, the vehicle body of HUNTERSE is in parallel with X axis of the established reference
coordinate system. In the remote control mode, push the remote control stick S1 forward to move in the positive X
direction, and push S1 backward to move in the negative X direction. When S1 is pushed to the maximum value,
the movement speed in the positive X direction is the maximum; when S1 is pushed to the minimum value, the
movement speed in the negative X direction is the maximum; the remote control stick S2 controls the steering of
the front wheels of the vehicle body; push S2 to the left, and the vehicle turns to the left; push it to the maximum,
SWB

and the steering angle is the largest;push S2 to the right, and the vehicle turns to the right; push it to the maximum,
and the right steering angle is the largest at this time. In the control command mode, the positive value of the linear
velocity means movement in the positive direction of the X axis, and the negative value of the linear velocity
means movement in the negative direction of the X axis; the steering angle is the steering angle of the inner wheel。
This section mainly introduces the basic operation and use of the HUNTERSE platform, and how to carry out the
secondary development of HUNTERSE through the external CAN interface and the CAN bus protocol.
2. Getting Started
3.1 Use and operation
The basic operation process of the startup operation is as follows:
Check
Check the condition of HUNTER SE. Check
whether there are significant anomalies; if so, please
contact the after-sale service personal for support;
Check the state of emergency-stop switches. Make
sure the emergency stop buttons are released;
When using for the first time, make sure that Q2
(knob switch) in the rear electrical panel is vertical,
and the HUNTERSE is in a power-off state at this
time.
Startup
Turn the knob switch to the horizontal state (Q2);
under normal circumstances, the voltmeter normally
displays the battery voltage;
Check the battery voltage, and the normal voltage
range is 24.5~26.8V; if there is a continuous
"beep-beep-beep..." sound from the beeper, it means
that the battery voltage is too low, then please charge
it in time.
Shutdown
Turn theknob switch to vertical to cut off the power.
Emergency stop
Press the emergency stop switch on the side of the
HUNTERSE vehicle body.
Basic operating procedures of remote control
After the HUNTERSE mobile robot chassis is started correctly, turn on the RC transmitter and set SWB to the remote
control mode. Then, HUNTERSE platform movement can be controlled bythe RC transmitter.
3.2 Charging and battery replacement
HUNTER SE is equipped with a 10A charger by default, which can meet the charging needs of customers. When
charging normally, there is no description of the indicator light on the chassis. For specific instructions, please refer
to the description of the charger indicator light.
The specific operating procedures of charging are as follows:
Make sure that the HUNTER SE chassis is in a
shutdown state. Before charging, please make sure
that the power switch in the rear electrical console is
turned off;
Insert the plug of the charger into the Q1 charging
interface in the rear electrical control panel;
Connect the charger to the power supply and turn on
the charger switch to enter the charging state.
Note: For now, the battery needs about 3 hours to be fully
recharged from 24.5V, and the voltage of a fully recharged
battery is about 26.8V;

Battery replacement
Turn off the power switch of the HUNTERSE chassis
Press the button lock on thebattery replacement panel to open thebatterypanel
Unplugthe currently connected battery interface, respectively (XT60 power connector)
Take out the battery, and pay attention that the battery is not allowed to be bumped and collided during this process
3.3 Development
The CAN communication standard in HUNTER SE adopts CAN2.0B standard, the communication baud rate is
500K, and the message format adopts MOTOROLA format. The linear velocity and steering angle of the chassis
movement can be controlled through the external CAN bus interface; HUNTER SE will feedback the current
movement status information and the status information of the HUNTER chassis in real time. The system status
feedback command includes current vehicle body status feedback, control mode status feedback, battery voltage
feedback and fault feedback. The protocol content is shown in Table 3.1.
Table 3.1 Feedback Frame of HUNTER SE Chassis System Status
Command
Name
System Status Feedback Command
Sending
node
Receiving node ID Cycle（ms）Receive
time-out (ms)
Steer-by-wi
re chassis
Decision-making
control unit
0x211 100ms None
Data length 0x08
Position Function Data type Description
byte [0] Current status ofvehicle
body
unsigned int8 0x00 System in normal condition
0x01 Emergency stop mode
0x02 System exception
byte [1] Mode control unsigned int8 0x00 Standby mode
0x01 CAN command controlmode
0x02 Remote control mode
byte [2]
byte [3]
The battery voltage is 8
bits higher
The battery voltage is 8
bits lower
unsigned int16 Actual voltage × 10(with an accuracyof 0.1V)
byte [4]
byte [5]
The failure information
is 8 bits higher
The failure information
is 8 bits lower
unsigned int16 Refer to remarks [Description of Failure Information]
byte [6] Reserved _ 0x00
byte [7] Count check (count) unsigned int8 0~255 cycle count; every time an instruction is sent, the
count will increase once

Description of Fault
byte Bit Meaning
byte [4] bit [0] Reserved, default 0
bit [1] Reserved, default 0
bit [2] Remote control disconnection protection (0: No failure 1: Failure)
bit [3] Reserved, default 0
bit [4] Upper layer communication connection (0:No failure 1:Failure )
bit [5] Reserved, default 0
bit [6] Drive status error (0: No failure1: failure)
bit [7] Reserved, default 0
byte [5] bit [0] Battery under-voltage failure (0: No failure 1: Failure)
bit [1] Steering zero setting error (0: No failure 1: Failure)
bit [2] Reserved, default 0
bit [3] Steeringmotordriver communication failure(0: No failure 1:Failure)
bit [4] Rear right motor driver communication failure (0: No failure 1: Failure)
bit [5] Rear left motor driver communication failure (0: No failure 1: Failure)
bit [6] Motor overheat failure (0: No failure 1: failure)
bit [7] Drive over-current failure (0: No failure 1: failure)
The command of movement control feedback frame includes the feedback of current linear velocity and steering
angle of moving vehicle body. The specificprotocol content is shown in Table 3.2.
Table 3.2 Movement Control Feedback Frame
Command Name System Status Feedback Command
Sending node Receiving node ID Cycle（ms）Receive time-out
(ms)
Steer-by-wire
chassis
Decision-making
control uni
0x221 20ms none
Data length 0x08
Position Function Data type Description
byte [0]
byte [1]
The movement
speed is 8 bits
higher
The movement
speed is 8 bits lower
signed int16 Actual speed × 1000 (with an accuracy of
0.001m/s)
byte [2] Reserved 0x00
byte [3] Reserved 0x00

byte [4] Reserved 0x00
byte [5] Reserved 0x00
byte [6]
byte [7]
The angle is 8 bits
higher
The angle is 8 bits
lower
Signed int16 Actual inner angle X1000 (unit: 0.001rad)
The movement control frame includes the linear velocity control command and the front wheel inner angle control
command. The specific protocol content is shown in Table 3.3.
Table 3.3 Movement Control Feedback Frame
Command
Name
SystemStatus Feedback Command
Sending node Receiving node ID Cycle（ms）Receive time-out (ms)
Decision-mak
ing control
unit
Chassis node 0x111 20ms 500ms
Data length 0x08
Position Function Data type Description
byte [0]
byte [1]
The linear
velocity is 8
bits higher
The linear
velocity is 8
bits lower
signed
int16
Moving speed of vehicle body, unit: mm/s（effective value: +
-4800)
byte [2] Reserved —0x00
byte [3] Reserved —0x00
byte [4] Reserved —0x00
byte [5] Reserved —0x00
byte [6]
byte [7]
The angle is 8
bits higher
The angle is 8
bits lower
signed
int16
Steering inner angle unit: 0.001rad (effective value +-400)
PS: In the CAN command mode, it is necessary to ensure that the 0X111 command frame is sent in a period less
than 500MS (recommended period is 20MS), otherwise HUNTER SE will judge that the control signal is lost and

enter an error (0X211 feedback that the upper layer communication is lost). After the system reports an error, it
will enter the standby mode. If the 0X111 control frame returns to the normal sending period at this time, the upper
layer communication disconnection error can be automatically cleared, and the control mode returns to the CAN
control mode.
The mode setting frame isused to set the control interface of HUNTER SE. The specific protocolcontent is shown
in Table 3.4.
Table 3.4Control Mode Setting Command
Command
Name
SystemStatus Feedback Command
Sending node Receiving node ID Cycle（ms）Receive time-out (ms)
Decision-mak
ing control
unit
Chassis node 0x421 none none
Data length 0x01
Position Function Data type Description
byte [0] Control mode
unsigned
int8
0x00 Standby mode
0x01 CAN指令模式上电默认进入待机模式0x01 Power on in
Description of control mode: In case the HUNTERSE is powered on and the RC transmitter is not connected, the
control mode is defaulted to standby mode. At this time, the chassis only receives control mode command, and
does not respond to other commands.To use CAN for control, you need to switch to CAN command mode at first.
If the RC transmitter is turned on, the RC transmitter has the highest authority, can shield the control of command
and switch the control mode.
The status setting frame is used to clear system errors. The protocol content is shown in Table 3.5.
Table 3.5Status Setting Frame
Command
Name
SystemStatus Feedback Command
Sending node Receiving node ID Cycle（ms）Receive time-out (ms)
Decision-mak
ing control
unit
Chassis node 0x441 none none
Data length 0x01
Position Function Data type Description

byte [0] error clearing
command
unsigned
int8
0xFF Clear all non-critical failures
0x04 Clear the communication failureof thesteering motordriver
0x05 Clear the communication failureof therear right motor
driver
0x06 Clear the communication failureof therear left motordriver
[Note] Sample data, the following data isonly for testing
1. The vehicle moves forward at aspeed of 0.15m/S
2. The vehicle steering 0.2rad
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xC8
The chassis status information will be feedback, and what’s more, the information about motor current, encoder
and temperature are also included. The following feedback frame contains the information about motor current,
encoder and motor temperature.
The corresponding motor numbers of the three motors in the chassis are: steering No. 1, right rear wheel No. 2, left
rear wheel No. 3
The motor speed current position information feedback is shown in Table 3.6 and 3.7.
Table 3.6 Motor Drive High Speed Information Feedback Frame
Command Name Motor Drive High Speed Information Feedback Frame
Sending
node
Receiving node ID Cycle（ms）Receive time-out (ms)
Steer-by-wir
e chassis
Data length
Position
Decision
-making
control unit 0x08
Function
0x251~0x253
Data type
20ms None
Description
byte [0]
byte [1]
The motor speed
is 8 bits higher
The motor speed
signed int16 Current motor speed Unit RPM
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x96 0x00 0x00 0x00 0x00 0x00 0x00

is 8 bits lower
byte [2]
byte [3]
The motor
current is 8 bits
higher
The motor
current is 8 bits
lower
signed int16 Motor current Unit 0.1A
byte [4]
byte [5]
byte [6]
byte [7] Reserved -- 0×00
Table 3.7 Motor Drive Low Speed Information Feedback Frame
Command Name otor Drive LowSpeed Information Feedback Frame
Sending
node
Receiving node ID Cycle（ms）Receive time-out (ms)
Steer-by-wir
e chassis
Decision-making
control unit
0x261~0x263 100ms None
Data length 0x08
Position Function Data type Description
byte [0]
byte [1]
The drive voltage
is 8 bits higher
The drive voltage
is 8 bits lower
unsigned int16 Current drive voltage Unit 0.1V
byte [2]
byte [3]
The drive
temperature is 8
bits higher
The drive
temperature is 8
bits lower
signed int16 Unit 1℃
byte [4] Motor
temperature
signed int8 Unit 1℃
byte [5] Drive status unsigned int8 See the details in [Drive control status]
byte [6] Reserved — 0x00
byte [7] Reserved — 0x00
The specific content of the drive status information is shown in Table 3.8.

Table 3.8 Drive Status Description
Drive Status
Byte
byte [5]
Bit Description
bit [0] Whether thepower supply voltage is too low (0: Normal 1: Too low)
bit [1] Whetherthemotoris overheated (0: Normal 1: Overheated)
bit [2] Whether the drive is over current (0: Normal 1: Over current)
bit [3] Whether the drive is overheated (0: Normal 1: Overheated)
bit [4] Sensor status (0: Normal 1: Abnormal)
bit [5] Drive error status (0: Normal 1: Error)
bit [6] Drive enable status (0: Enable1: Disable)
bit [7] Reserved
Steering zero setting and feedback commands are used to calibrate the zero position. The specific contents of the
protocol are shown in Table 3.10 and 3.11.
Table 3.10 Steering Zero Setting Command
Command Name Steering Zero Query
Sending node Receiving node ID Cycle（ms）Receive time-out (ms)
Steer-by-wire chassis Decision-making
control uni
0x432 None none
Data length 0x01
Position Function Data type Description
byte [0] The zero offset is 8 bits
higher
signed int16
Zero offset value pulse number reference value
22000+-10000
byte [1] The zero offset is 8 bits
lower
Table 3.11 Steering Zero Setting Feedback Command
Command Name Steering Zero Query
Sending node Receiving node ID Cycle（ms）Receive time-out (ms)
Steer-by-wire chassis Decision-making
control uni
0x43 B None none
Data length 0x01
Position Function Data type Description
byte [0] The zero offset is 8 bits
higher
signed int16
he chassis will usethedefault value beyond the
settable range 22000
byte [1] The zero offset is 8 bits
lower

Table 3.12 Steering Zero Query Command
Command Name Steering Zero Query
Sending node Receiving node ID Cycle（ms）Receive time-out (ms)
Decision-making
control uni
Steer-by-wire chassis 0x433 None none
Data length 0x01
Position Function Data type Description
byte [0] Querythe current zero
offset value
unsigned int8 Fixed value: 0×AA
The query successfully returns 0×43B
3.3.2CAN cable connection
HUNTER SE is shipped with a aviation plug male connector as shown in Figure 3.2. Refer to Table 3.2 for the
definition of the cable.
Red:VCC(batterypositive)
Black: GND(battery negative)
Blue: CAN_L
Yellow: CAN_H
3.3.3Implementation of CAN command control
Start the HUNTERSE mobile robot chassis normally, turn on the FS remote control, and then switch the control
mode to command control, that is, turn the SWB mode selection of the FS remote control to the top. At this time,
the HUNTERSE chassis will accept the command from the CAN interface, and the host can also analyze the
current status of the chassis through the real-time data fed back by the CAN bus at the same time. Refer to CAN
communication protocol for specific protocol content.
3.4 HUNTERSE ROS Package use example
ROS provides some standard operating system services, such as hardware abstraction, low-level equipment
control, implementation of common functions, inter-process message and data packet management. ROS is based
on a graph architecture, so that processes of different nodes can receive, release, and aggregate various information
(such as sensing, control, status, planning, etc.). Currently ROS mainly supports UBUNTU.
Hardware preparation
CANlight can communication module X1
Thinkpad E470 notebook X1
AGILEX HUNTER SE mobile robot chassis X1
AGILEX HUNTER SE supporting remote control
FS-i6s X1
AGILEX HUNTER SE rear aviation socket X1
Use example environment description
Ubuntu 16.04 LTS（This is a test version, tested on
Ubuntu 18.04 LTS）
ROS Kinetic（Subsequent versions are also tested）
Git