AgileX SCOUT MINI User manual

AgileX Robotics Team
2020.08
V.2.0.0
SCOUT
MINI
User Manual

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 [email protected]. 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
！
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 a complete autonomous mobile robot,
including but not limited to automatic anti-collision, anti-falling,
biological approach warning and other related safety functions.
Related functions require integrators and end customers to
follow relevant regulations and feasible laws and regulations for
safety assessment. To ensure that the developed robot does not
have any major hazards and safety hazards in actual
applications.
Collect all the documents in the technical file: including risk
assessment and this manual.
Know the possible safety risks before operating and using the
equipment.
1.Effectiveness and responsibility
5.Maintenance
4.Operation
2.Environmental Considerations
3.Pre-work Checklist
For the first use,please read this manual carefully to
understand the basic operating content and operating
specification.
For remote control operation, select a relatively open area
to use SCOUT MINI, because SCOUT MINI is not equipped
with any automatic obstacle avoidance sensor.
Use SCOUT MINI always under -10℃~45℃ ambient
temperature.
If SCOUT MINI is not configured with separate custom IP
protection, its water and dust protection will be IP22 ONLY.
Make sure each device has sufficient power.
Make sure Bunker does not have any obvious defects.
Check if the remote controller battery has sufficient power.
When SCOUT MINI has had a defect, please contact the
relevant technical to deal with it, do not handle the defect by
yourself.
Always use SCOUT MINI in the environment with the
protection level requires for the equipment.
Do not push SCOUT MINI directly.
When charging, make sure the ambient temperature is above
0℃.
In remote control operation, make sure the area around is
relatively spacious.
Carry out remote control within the range of visibility.
The maximum load of SCOUT MINI is 20KG. When in use, ensure
that the payload does not exceed 20KG.
When installing an external extension on SCOUT MINI, confirm
the position of the center of mass of the extension and make sure
it is at the center of rotation.
Please charge in tine when the device is low battery alarm.
When SCOUT MINI has a defect, please immediately stop using it
to avoid secondary damage.
If the tire is severely worn or burst, please replace it in time.
If the battery do not use for a long time, it need to charge the battery periodically in 2 to 3 months.
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.
SCOUT MINI integrators and end customers have the responsibility to 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:

CONTENTS
1 SCOUT MINI Introduction
1.1 Component list
1.2 Tech specifications
1.3 Requirement for development
2 The Basics
2.1 Robot status indication
2.2 Instructions on electrical interfaces
2.3 Instruction on the remote control
2.4 Instruction on remote control and
command control
2.5 Instructions on lighting control
3 Getting Started
3.1 Use and operation
3.2 Charging
3.3 Communication using CAN
3.3.1 CAN cable connection
3.3.2 Implementation of CAN
command control
3.3.3 CAN message protocol
3.4 Firmware upgrade
3.5 SCOUT MINI ROS Package
4 Attention
4.1 Battery
4.2 Operational environment
4.3 Electrical/extension cords
4.4 Additional safety advices
5 Q&A
6 Product Dimensions
6.1 Illustration diagram of product
external dimensions
6.2 Illustration diagram of top
extended support dimensions
1
1
1
1
2
2
2
3
4
4
5
5
5
5
5
5
6
14
15
16
16
16
16
16
17
18
18
19

1 Introduction to SCOUT MINI
SCOUT MINI intelligent mobile chassis, with 4WD, strong off-road performance and compact body shape, truly achieves
"dexterous and flexible". SCOUTMINI inherits the advantages of SCOUT four-wheel differential chassis family, i.e. four-wheel
drive, independent suspension, in-situ rotation and so on, and has made innovation in the design of hub motor. The
minimum turning radius of the chassis is 0 m, and the climbing angle is close to 30 degrees. SCOUT MINI is still capable of
excellent off-road performance although it is only half of SCOUT in size. In addition, it has a breakthrough high-speed,
accurate, stable and controllable dynamic control system up to 20 km/h. SCOUTMINI development platform with its own
control core, supports standard CAN bus communication, and can access to standard CAN bus communication, as well as all
kinds of external equipment. On such basis, it supports secondary development such as ROS and more advanced access and
the access of robot development system. Equipped with standard RC transmitter, 24V 15Ah lithium battery power system, its
endurance mileage is up to 10 km. Additional components such as stereo camera, laser radar, GPS, IMU, manipulator, etc. can
be optionally installed on SCOUT MINI for expanded applications. SCOUT MINI is frequently used for unattended inspection,
security, scientific research, prospecting, logistics, etc.
FS RC transmitter is provided optionally in the factory settings of SCOUT MINI and it allows users to control the mobile chassis
to move and turn; the CAN provided on SCOUT MINI can be used for secondary development via the CAN interface.
1.1 Product list
SCOUT MINI robot body
Battery charger (AC 220V)
Aviation male plug (4-Pin)
USB to CAN
RC transmitter
x1
x1
x1
x1
x1
USB to RS232 x1
Name Quantity
1.2 Performance parameters
1.3 Requirement for development
Mechanical specifications
Motion
Control parameter
L × W × H (mm)
Wheelbase (mm)
Front/rear wheel base (mm)
Weight of vehicle body (kg)
Battery type
Motor
Drive type
Suspension
Steering
Safety equipment
615x580x245
452
490
22.5
Lithium battery 24V 15AH
DC brushless 4 X 150W
Independent four-wheel drive
Independent suspension with rocker arm
Four-wheel differential steering
Servo brake/anti-collision tube
No-load highest speed (km/h)
Minimum turning radius
Maximum climbing capacity
Minimum ground clearance (mm)
10.8
Be able to turn on a pivot
30°
115
RC transmitter
Communication interface
2.4G/extreme distance 1km
CAN
Control mode Remote control
Command control mode
Parameter Types Items Values
1

2 The Basics
This Section will basically introduce the basic knowledge about SCOUT MINI mobile robot chassis to users and developers.
The overview of an entire mobile robot chassis is shown in Figure 2.1 and Figure 2.2 below.
Based on the concept of modular and intelligent design as a whole, SCOUT MINI combines filled solid tires with independent
suspension as its power module, which, along with powerful hub motor, enables the development platform of SCOUT MINI
robot chassis to flexibly move on different ground surfaces with high passing ability and ground adaptability. The hub motor
saves the complex transmission structure design and makes it possible for the model to become more compact.
Anti-collision fence is mounted in the front of the vehicle to protect the front and reduce possible damages to the vehicle body
during a collision. The front of the vehicle is equipped with white lights, which can be illuminated.
Electrical interfaces for DC power and communication interfaces are provided at the rear of the robot to facilitate secondary
development. The electrical interfaces adopt waterproof plug-in components, not only allowing flexible connection between
the robot and external components for customers but also allowing the use of the robot even under severe operating
conditions.
A standard aluminum extension support is installed at the top of the vehicle to facilitate the use of external equipment
extension.
Users can identify the status of vehicle body through the voltmeter, the power supply and lights mounted on SCOUT MINI.
In the SCOUT MINI tail minimalist design, all electrical interfaces are in the tail. The interfaces include voltage display
interactive module, extension interface, power switch and charging interface. The position of each module at the tail is as
shown in the figure.2.3.
Tail power switch: When the power switch is pressed, the ring indicator light will enter constant mode.
Power indication: the tail power display module showing the information of the power capacity and voltage of the current
battery.
Front light: Front width light, can be switched by RC transmitter and command.
2.1 Status indication
2.2 Instructions on electrical interfaces
1. Tire
2. Spring shock absorber
3. Extension support
4. Control interface area
5. Electrical bin panel
6. Tail light
7. Power capacity LCD
8. CAN extension interface
9. Power key
10. Charging interface
11. Font light
12. Front fence
2
Figure 2.1 Rear View
Figure 2.1 Front View

2.3 Remote control instructions
SCOUT MINI aviation extension interface is configured with both a set of power supplies and a set of CAN communication
interfaces. These interfaces can be used to supply power to extended devices and establish communication. The specific
definitions of pins are shown in Figure 2.4.
Voltmeter
Extension interface
Power switch
Charging interface
1 2
3 4
1
2
3
4
Power
CAN
Power
CAN
VCC
GND
CAN_H
CAN_L
Power positive, voltage range
23 - 29.2V, MAX. current 5A
Power negative
CAN bus high
CAN bus low
Pin No. Pin Type Function and
Definition Remarks
FS RC transmitter is an optional feature of SCOUT MINI for users to choose as actually required. With this RC transmitter
designed on the left throttle in this product, users can easily control SCOUT MINI universal robot chassis. Its definitions and
functions are shown in Figure 2.5 for reference.
The RC transmitter is preset the mapping of keys at factory. Do not arbitrarily change the key mapping, otherwise normal
control will be unavailable. The lever SWB switches control mode; the lever SWC is the manual control switch to control the
light off; the lever SWD controls speed mode; the left rocker controls forward and backward movement; the right rocker
controls the vehicle for left rotation and right rotation. It is worth noting that the mobile chassis on the internal control is
mapped by percentage, so the speed will be constant when the lever is in the same position.
12
5
7
8
6
9
10
11
3
4
1. Lever SWA
2. Lever SWB
3. Lever SWC
4. Lever SWD
5. Left rocker
6. Right rocker
7. Power switch key 1
8. Power switch key 2
9. Mobile/Tablet fixing support interface
10. Ring interface
11. LCD panel
*When the user gets the RC transmitter, the settings have been
available without having to be set separately.
Figure 2.5 Schematic Diagram of Buttons on FS Remote Controller
3
Figure 2.3 Schematic diagram of the rear electrical panel
Figure 2.4 Pin definition figure

2.4 Description of movement by remote control and control by command
2.5 Instructions on lighting control
A reference coordinate system shown in Figure 3.0 is established in accordance with ISO 8855 standard for moving vehicles on
ground.
As shown in Figure 3.0, the vehicle body of SCOUT MINI is in parallel with X axis of the established reference coordinate
system.In the controller mode with RC transmitter, pushing the left rocker of the RC transmitter forward and backward
respectively refers to the movement on the positive and negative directions of axis X; when the left rocker of the RC transmitter
is pushed to the maximum position, the speed of movement towards the position direction of axis X reaches the maximum;
when the left rocker of the RC transmitter is pushed to the minimum position, the speed of movement towards the negative
direction of axis X reaches the maximum; the right rocker of the RC transmitter controls the rotational movement of vehicle
body to left and right; pushing the right rocker of the RC transmitter to left and right respectively refers to the rotational
movement of vehicle body from the positive direction of axis X to the positive direction of axis Y and from the positive direction
of axis X to the negative direction of axis Y; when the right rocker of the RC transmitter is pushed to the maximum position on
the left, the rotational linear speed on anticlockwise direction reaches the maximum; when the right rocker of the RC
transmitter is pushed to the maximum position on the right, the rotational linear speed on clockwise direction reaches the
maximum.
In the control command mode, the positive value of linear speed refers to movement towards the positive direction of axis X,
and the negative value of linear speed refers to movement towards the negative direction of axis X; the positive value of
angular speed refers to the rotational movement of vehicle body from the positive direction of axis X to the positive direction
of axis Y, and the negative value of angular speed refers to the rotational movement of vehicle body from the positive direction
of axis X to the negative direction of axis Y.
Lights are mounted in front and at back of SCOUT MINI,
and the lighting control interface of SCOUT MINI is open
to the users for convenience. Meanwhile, another
lighting control interface is reserved on the RC
transmitter for energy saving.
There are 3 kinds of lighting modes controlled with RC
transmitter, which can be switched among each other
by SWC lever toggling:
Normally closed mode: In normally closed mode, if
the chassis is still, the light will be turned off; if the
chassis is in the traveling state at certain normal
speed, the light will be turned on;
Normally open mode: In normally open mode, if the
chassis is still, the light will be normally on; if in
motion mode, the light will be turned on;
Breathing light mode: The light is in breathing mode.
Note on mode control:
Toggling SWC lever respectively to bottom, middle
and top positions refers to normally closed mode,
normally open mode and breathing light mode.
Figure 3.0 Schematic Diagram of Reference Coordinate System for Vehicle Body
4
Left rocker
Front
Rear
Right rotation
Right rocker
Left rotation

3.1 Use and operation
3.3.1 CAN cable connection
3.3.2 Implementation of CAN command control
3.2 Charging
3.3 Development
3. Getting Started
This Section mainly introduces the basic operation and use of the SCOUT MINI platform and also introduces how to conduct secondary
development of the vehicle body via the external CAN ports and CAN bus protocol.
The basic operating procedure of startup is shown as follows:
SCOUT MINI is equipped with a 10 A charger by default to meet customers' charging demand.
The detailed operating procedure of charging is shown as follows:
Check
Startup
Basic operating procedure of remote control
Check the condition of the vehicle body. Check whether there are
significant anomalies; if so, please contact the after-sale service
personnel for support.
Make sure SCOUT MINI chassis is in power-off state.
Insert the charger plug into the charging interface on the rear of the
vehicle;
Connect the charger to power supply and turn on the switch in the
charger. Then, the robot enters the charging state.
Note: For now, the battery needs about 1.5 hours to be fully
recharged from 22 V, and the voltage of fully-recharged
battery is about 29.2 V; the recharging duration is calculated
as 15 AH ÷ 10A = 1.5h.
Shutdown
Press the SCOUT MINI power button to release.
Press the SCOUT MINI power button and wait for a few seconds;
Move SWB to the middle and choose the position to be
controlled;
You can try to manually switch the light mode and make sure
that the mode selection is correct;
Try to gently push the left rocker a little forward, then you can
see the vehicle moves forward slowly;
Try to gently push the left rocker a little backward, then you can
see the vehicle moves backward slowly;
SCOUT MINI provides CAN interfaces for customization and development. Users can send command to control the chassis through the CAN
interface.
SCOUT MINI provides a aviation plug as shown in Picture 3.2, the definitions
of the wire are Yellow to CANH and Blue to CANL
Note: There is only the rear external extension interface available for the
current SCOUT MINI version and it is able to provide up to 5A current.
Power on SCOUT MINI and turn on the remote control, put the SWB switch
to the top position to enable command control mode, so that SCOUT MINI
would receive the data from the CAN interface, the host computer is able to
receive the current status of the chassis with the can interface, please refer
to the CAN protocol as below for detail.
After SCOUT MINI mobile chassis is started correctly, turn on the RC transmitter and select the remote-control mode. Then, the SCOUT MINI
platform motion can be controlled by the RC transmitter.
Release the left rocker, then the vehicle will stop;
Try to gently push the right rocker a little leftward, then you can
see the vehicle rotates leftward slowly;
Try to gently push the right rocker a little rightward, then you
can see the vehicle rotates rightward slowly;
Release the right rocker, then the vehicle will stop;
Try to control freely in the relatively open area, and get
familiarized with the vehicle moving speed.
5
Figure 3.2 Schematic diagram of aviation plug male connector
Red:VCC(battery positive)
Black:GND(battery negative)
Blue:CAN_L
Yellow:CAN_H

3.3.3 CAN protocol
SCOUT MINI adopts CAN2.0B communication standard which has a communication baud rate of 500K and Motorola message format. Via
external CAN bus interface, the moving linear speed and the rotational angular speed of chassis can be controlled; SCOUT MINI will feedback
the current motion status information, SCOUT MINI chassis status information, etc. The protocol includes system status feedback frame,
movement control feedback frame and control frame, the contents are shown as follows:
The system status feedback command includes the feedback information about current status of chassis, control mode status, battery voltage
and system failure. The description is given in Table 3.1.
6
Table 3.1 SCOUT MINI Chassis Status Feedback Frame
Table 3.2 Description of Failure Information
Low-voltage failure(0: Normal 1: Failure) Protection Voltage is 20.5V
Low-voltage warning[2](0: Normal 1: Warning) Warning voltage is 22.5V
Remote control signal lost protection(0: Normal 1: Lost signal)
Drive NO.1 communication failure(0: Normal 1: Failure)
Drive NO.2 communication failure(0: Normal 1: Failure)
Drive NO.3 communication failure(0: Normal 1: Failure)
Drive NO.4 communication failure(0: Normal 1: Failure)
Reserve, default value 0
byte [5]
Byte Bit Description
Description of Failure Information
Sending node
Steer-by-wire chassis
Data length
Location
byte [0]
byte [1]
Receiving node
Key unit
0x08
Function
Current status of
Chassis
Control mode
ID
0x211
Data type
unsigned int8
unsigned int8
Description
0x00 Normal condition
0x02 System error
byte [2]
byte [3]
byte [4]
byte [5]
Battery voltage upper 8 bits
Battery voltage lower 8 bits
Reserve
Failure Information
unsigned int16
byte [6]
byte [7]
Reserve
Count Parity bit (Count) unsigned int8
Actual voltage × 10( Accuracy 0.1V )
0x00
Refer to Table3.2 Failure Information Description
0x00 Stand by
0x01 CAN command control
0x02 Serial port control[1]
0x03 Remote control
0~255 Loops counting. Count is incremented
once while single command sent each time
System Status Feedback Command
_
unsigned int8
_0x00
bit [0]
bit [1]
bit [2]
bit [3]
bit [4]
bit [5]
bit [6]
bit [7]
Cycle(ms)
200ms
Receive-timeout(ms)
None
Command Name

[1]:It is available for V1.2.8 version or later, firmware upgrade is necessary for previous version.
[2]:The buzzer will sound when the battery low-voltage warning , but the chassis is still controllable, and the power supply would be cut off
when it comes to Low-voltage failure.
The motion control feedback frame includes the feedback of moving and rotation speed of chassis. Please refer to Table 3.3 for detail.
7
Table 3.3 Motion Control Feedback Frame
Table 3.4 Motion Command Control Frame
The motion control frame includes the controlling of linear speed and angular speed . Please refer to Table 3.4 for detail.
Sending node
Steer-by-wire chassis
Data length
Position
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Key unit
0x08
Function
Moving speed upper 8 bits
Moving speed lower 8 bits
Rotation speed upper 8 bits
Rotation speed lower 8 bits
Reserve
Reserve
Reserve
Reserve
ID
0x221
Data type
signed int16
signed int16
-
-
-
-
Description
Actual speed X 1000 (Accuracy 0.001m/s )
Actual speed X 1000 (Accuracy 0.001rad/s)
0x00
0x00
0x00
0x00
Motion Control Feedback FrameCommand Name
Description
Linear moving speed mm/s(unit)
Range[-3000,3000]
Sending node
Key Unit
Data length
Location
byte [0]
Receiving node
Chassis node
0x08
Function
Linear velocity upper 8 byte
ID
0x111
Data type
signed int16
byte [1]
byte [2]
Linear velocitylower 8 byte
Angular velocityupper 8 byte
Angular velocity lower 8 byte
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Reserve
Reserve
Reserve
Reserve
signed int16
—
—
—
—
Rotation angular speed 0.001rad/s(unit)
Range [-2523,2523]
0x00
0x00
0x00
0x00
Motion Command Control Frame
Cycle(ms)
20ms
Receive-timeout(ms)
None
Cycle(ms)
20ms
Receive-timeout(ms)
500ms
Command Name

8
The control mode setting frame is used to set the terminal interface. Please refer to Table 3.5 for detail.
The status clear frame is used to clear the system failures, please refer to table 3.6 for detail.
Description for control mode
If SCOUT MINI is power on without the connection with remote control, the default control mode is stand by, the chassis would receive the
control command only and not respond to the speed command, enable the CAN control mode before using the CAN control. If you power
on the remote control, then the remote control has the highest priority, the chassis would switch the control mode based on remote control
only.
Table 3.5 Control Mode Setting Frame
Table 3.6 Status Clear Frame
Sending node
Key Unit
Data length
Location
byte [0]
Receiving node
Chassis node
0x01
Function
CAN Command Mode
ID
0x421
Data type
unsigned int8
Control mode FrameCommand Name
Description
0x00 Stand by
0x01 CAN Command mode
Description
0x00 Clear all failures
0x01 Clear motor1 failures
0x02 Clear motor2 failures
0x03 Clear motor3 failures
0x04 Clear motor4 failures
Sending node
Key Unit
Data length
Location
byte [0]
Receiving node
Chassis node
0x01
Function
Failures clear command
ID
0x441
Data type
unsigned int8
Control mode Frame
In addition to the feedback of chassis status, there are also feedback data of the motor current information、encoder data and
temperature. Please refer to the table below for the frame detail.
The number of the motor is shown in the picture below:
[Note3]Testing data : The following data is sample for testing only.
1.The chassis moves forward at 0.15m/s.
2.The chassis rotates at 0.2rad/s.
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x00 0x00 0xc8 0x00 0x00 0x00 0x00
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x96 0x00 0x00 0x00 0x00 0x00 0x00
Cycle(ms)
None
Receive-timeout(ms)
None
Cycle(ms)
None
Receive-timeout(ms)
None
Command Name

12
3 4
Picture3.0 Motor ID Feedback
Table 3.7 Motor Rotational Speed and Current Feedback Frame
9
Sending node
Key Unit
Data length
Location
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Chassis node
0x08
Function
Motor rotational speed upper 8bits
Motor rotational speed lower 8bits
Motor current upper 8bits
Motor current lower 8bits
Reserved
Reserved
Reserved
Reserved
ID
0x251~0x254
Data type
signed int16
signed int16
-
-
-
-
Description
Motor rotational speed(RPM)
Motor current (0.1A)
0x00
Motor Rotational Speed and Current Feedback Frame
Command Name
Cycle(ms)
20ms
Receive-timeout(ms)
None

10
Table 3.8 Motor Drive Status Feedback Frame
Table 3.9 Drive Status
Sending node
Steer-by-wire chassis
Data length
Location
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Key unit
0x08
Function
Drive voltage upper 8 bit
Drive voltage lower 8 bit
Drive temperature upper 8 bit
Drive temperature lower 8 bit
Motor temperature
Drive status
Reserved
Reserved
ID
0x261~0x264
Data type
unsigned int16
signed int16
Description
Drive voltage (0.1V)
Unit: 1℃
Unit: 1℃
Refer to Table 3.9 for detail
0x00
0x00
signed int8
unsigned int8
-
-
Motor Status Feedback Frame
Command Name
Byte Bit Description
byte[5]
bit[0]
bit[1]
bit[2]
bit[3]
bit[4]
bit[5]
bit[6]
bit[7]
Power supply voltage (0: Normal 1: Low)
Motor over- temperature (0: Normal 1: Over-temperature)
Motor over-current(0: Normal 1: Over-current)
Drive over-temperature(0: Normal 1: Over-temperature)
Reserved
Reserved
Reserved
Reserved
The front and the external light are also controlled by command, please refer to the Table3.10 below
for detail.
Cycle(ms)
None
Receive-timeout(ms)
None

11
Table3.10 Light Control Frame
Table 3.11 Light Control Feedback Frame
Sending node
Steer-by-wire chassis
Data length
Location
byte [0]
byte [1]
Receiving node
Key unit
0x08
Function
Light control enable sign
Front light
Front light brightness customization
Reserved
Reserved
Reserved
Reserved
Count Parity bit (Count)
ID
0x121
Data type
unsigned int8
unsigned int8
Description
0x00 command invalid
0x01 Light control enable
unsigned int8 Range[0,100] 100 is the brightest[5]
0x00
0x00
0x00
0x00
0~255 Loops counting. Count is incremented
once while single command sent each time
0x00 Turn on
0x01 Turn off
0x02 Breathing
0x03 Customize brightness
Light control FrameCommand Name
-
-
-
-
unsigned int8
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Sending node
Steer-by-wire chassis
Data length
Location
byte [0]
byte [1]
Receiving node
Key unit
0x08
Function
Light control enable sign
Front light
Front light brightness
customization
Reserved
Reserved
Reserved
Reserved
Count Parity bit (Count)
ID
0x231
Data type
unsigned int8
unsigned int8
unsigned int8 Range[0,100] 100 is the brightest
0x00
0x00
0x00
0x00
0~255 Loops counting. Count is incremented
once while single command sent each time
0x00 Turn on
0x01 Turn off
0x02 Breathing
0x03 Customize brightness
Light control Frame
-
-
-
-
unsigned int8
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Note[5] This value is only valid with customization mode
Cycle(ms)
100ms
Receive-timeout(ms)
500ms
Description
0x00 command invalid
0x01 Light control enable
Cycle(ms)
500ms
Receive-timeout(ms)
None
Command Name

12
Table 3.12 System Version Enquiry Frame
Table 3.13 System Version Enquiry Frame
Sending node
Key Unit
Data length
Location
byte [0]
Sending node
Steer-by-wire chassis
Data length
Location
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Chassis node
0x01
Function
System version enquiry
Receiving node
Key unit
0x08
Function
Main board hardware version upper 8 bit
Main board hardware version lower 8 bit
Drive hardware version upper 8 bit
Drive hardware version lower 8 bit
Main board software version upper 8 bit
Main board software version lower 8 bit
Drive software version upper 8 bit
Drive software version lower 8 bit
ID
0x411
Data type
unsigned int8
ID
0x41A
Data type
unsigned int16
unsigned int16
unsigned int16
unsigned int16
Description
0x01 Fixed value
Description
Upper 8 bit is main version
Lower 8 bit is second version
Upper 8 bit is main version
Lower 8 bit is second version
Upper 8 bit is main version
Lower 8 bit is second version
Upper 8 bit is main version
Lower 8 bit is second version
Control mode Frame
Command Name
System Version Enquiry Frame
Command Name
Cycle(ms)
None
Receive-timeout(ms)
None
Cycle(ms)
None
Receive-timeout(ms)
None

13
Table 3.14 Odometer Feedback Frame
Sending node
Steer-by-wire chassis
Data length
Location
byte [0]
byte [1]
byte [2]
byte [3]
byte [4]
byte [5]
byte [6]
byte [7]
Receiving node
Key unit
0x08
Function
Left wheel odometer highest bit
Left wheel odometer second highest bit
Left wheel odometer second lowest bit
Left wheel odometer lowest bit
Right wheel odometer highest bit
Right wheel odometer second highest bit
Right wheel odometer second lowest bit
Right wheel odometer lowest bit
ID
0x311
Data type
signed int32
signed int32
Description
Left wheel odometer feedback
(Unit: mm)
Right wheel odometer feedback
(Unit: mm)
Odometer Feedback Frame
Command Name
Table 3.15 Remote Control Feedback Frame
Sending node
Steer-by-wire chassis
Data length
Location
byte[0]
byte[1]
byte[2]
byte[3]
byte[4]
byte[5]
byte[6]
byte [7]
Receiving node
Key unit
0x08
Function
SW feedback
Right joystick left and right
Right joystick up and down
Left joystick up and down
Left joystick left and right
Left knob VRA
Reserved
Count Parity bit
ID
0x241
Data type
unsigned int8
signed int8
signed int8
signed int8
signed int8
signed int8
--
Unsigned int8
Description
bit[0-1]: SWA ：2- Up 3-Down
bit[2-3]: SWB : 2-Up 1-Middle 3-Down
bit[4-5]: SWC : 2-Up 1-Middle 3-Down
bit[6-7]: SWD：2-Up 3-Down
Range[-100,100]
Range[-100,100]
Range[-100,100]
Range[-100,100]
Range[-100,100]
0x00
0~255 Loops counting
Remote Control Feedback Frame
Cycle(ms)
None
Receive-timeout(ms)
None
Cycle(ms)
20ms
Receive-timeout(ms)
None
Command Name

To facilitate the customer's upgrading of the firmware version used by SCOUT MINI and bring the customer a better experience,
SCOUT MINI provides a hardware interface for the firmware upgrading, and the corresponding client software as well. A screenshot
of this application is shown in Figure 3.3.
3.4 Firmware upgrade
Serial cable X 1
USB-to-serial port X 1
SCOUT chassis X 1
Computer (Windows operating system) X 1
Before connection, ensure the robot chassis is powered off;
Connect the serial cable onto the serial port atinternal
SCOUT MINI chassis;
Upgrade preparation: Connect the serial cable to the computer;
Open the client software;
Select the port number;
Power on SCOUT MINI chassis, and immediately click to
start connection (SCOUT MINI chassis will wait for 6 s
before power-on; if the waiting time is more than 6 s, it will
enter the application); if the connection succeeds,
"connected successfully" will be prompted in the text box;
Load Bin file;
Click the Upgrade button, and wait for the prompt of
upgrade completion;
Disconnect the serial cable, power off the chassis, and then
turn the power off and on again.
Upgrade procedure:
Figure 3.3 Client Interface of Firmware Upgrade
14
Firmware update software
https://github.com/agilexrobotics/agilex_firmware

15
ROS provide some standard operating system services, such as hardware abstraction, low-level device control, implementation of
common function, interprocess message and data packet management. ROS is based on a graph architecture, so that process of
different nodes can receive, and aggregate various information (such as sensing, control, status, planning, etc.) Currently ROS mainly
support UBUNTU.
For installation details, please refer to
http://wiki.ros.org/kinetic/Installation/Ubuntu
3.5 SCOUT MINI ROS Package
Development Preparation
Hardware connection and preparation
ROS installation and environment setting
Test CANABLE hardware and CAN communication
AGILEX SCOUT MINI ROS PACKAGE download and compile
Start the ROS node
Hardware preparation Use example environment description
CANlight can communication module ×1
Thinkpad E470 notebook ×1
SCOUT MINI mobile robot chassis ×1
SCOUT MINI remote control FS-i6s ×1
SCOUT MINI top aviation power socket ×1
Lead out the CAN wire of the SCOUT MINI top aviation plug or the tail plug, and connect CAN_H and CAN_L in the CAN wire to the
CAN_TO_USB adapter respectively;
Turn on the knob switch on the SCOUT MINI mobile robot chassis, and check whether the emergency stop switches on both sides are
released；
Connect the CAN_TO_USB to the USB hub of the laptop. The connection diagram is shown in Figure 3.4.
Enable gs_usb kernel module
$ sudo modprobe gs_usb
Setting 500k Baud rate and enable can-to-usb adaptor
$ sudo ip link set can0 up type can bitrate 500000
If no error occurred in the previous steps, you should be able
to use the command to view the can device immediately
$ ifconfifig -a
Install and use can-utils to test hardware
$ sudo apt install can-utils
If the can-to-usb has been connected to the SCOUT MINI
robot this time, and the car has been turned on, use the
following commands to monitor the data from the SCOUT
MINI
$ candump can0
Please refer to:
[1]https://github.com/agilexrobotics/agx_sdk
[2]https://wiki.rdu.im/_pages/Notes/Embedded-System/Li-
nux/can-bus-in-linux.html
$ sudo apt install ros-$ROS_DISTRO-controller-manager
$ sudo apt install ros-$ROS_DISTRO-teleop-twist-key-
board
$ sudo apt install ros-$ROS_DISTRO-joint-state-publish-
er-gui
$ sudo apt install libasio-dev
Clone compile SCOUT MINI code
$ cd ~/catkin_ws/src
$ git clone https://github.com/agilexrobot-
ics/scout_mini_ros.git
$ cd ..
$ catkin_make
Please refer to: https://github.com/agilexrobot-
ics/scout_mini_ros
Start the based node
$ roslaunch scout_bringup scout_minimal.launch
Start the keyboard remote operation node
$ roslaunch scout_bringup scout_teleop_key-
board.launch
Start the gazebo bionic node
$ roslaunch scout_bringup scout_mini_base_gazebo_-
sim.launch
Ubuntu 16.04 LTS (This is a test version, tasted on
Ubuntu 18.04 LTS)
ROS Kinetic (Subsequent versions are also tested)
Git
Setting CAN-TO-USB adaptor
Download ros package
1
2
3
4
External power supply:
1.Red: VCC (Battery positive)
2.Black: GND (Battery negative)
CAN:
3.Yellow: CAN_H
4.Blue: CAN_L

4 Attention
The battery supplied with SCOUT MINI is not always fully charged
in the factory setting, but its specific power capacity can be
displayed on the voltmeter at tail end of SCOUT MINI chassis or
read via CAN bus communication interface. Once the green
indicator light of charger is switched on, it means the battery
recharging is completed, but after this indicator light is on, the
battery will still be charged slowly with 0.1A current for possibility
about 30 minutes;
Please do not charge the battery after its power has been depleted,
and please charge the battery in time when low battery level alarm
on SCOUT MINI is on;
Static storage conditions: The best temperature for battery storage
is -10℃ to 45℃; in case of storage for no use, the battery must be
recharged and discharged once about every 2 months, and then
stored in full voltage state. Please do not put the battery in fire or
heat up the battery, and please do not store the battery in
high-temperature environment;
Charging: The battery must be charged with a dedicated lithium
battery charger; please do not charge the battery below 0℃ and do
no use non-originally standard batteries, power supplies and
chargers.
For the extended power supply, the current should not exceed 5 A
and the total power should not exceed 120 W;
When the system detects that the battery voltage is lower than the
safe voltage class, external power supply extensions will be actively
switched to. Therefore, users are suggested to notice if external
extensions involve the storage of important data and have no
power-off protection.
In case of any doubts during use, please follow related instruction manual or consult related technical personnel;
Before use, pay attention to field condition, and avoid mis-operation that will cause personnel
Without technical support and permission, please do not personally modify the internal equipment structure.
SCOUT MINI has plastic parts in front and rear, please do not
directly hit those parts with excessive force to avoid possible
damages;
When handling and setting up, please do not fall off or place the
vehicle upside down;
For non-professionals, please do not disassemble the vehicle
without permission.
The operating temperature of SCOUT MINI is -10℃ to 45℃; please
do not use it below -10℃ and above 45℃ ;
The requirements for relative humidity in the use environment of
SCOUT MINI are: maximum 80%, minimum 30%;
Please do not use it in the environment with corrosive and
flammable gases or closed to combustible substances;
Do not place it near heaters or heating elements such as large
coiled resistors, etc.;
Except for specially customized version (IP protection class
customized), SCOUT MINI is not water-proof, thus please do not use
it in rainy, snowy or water-accumulated environment;
The elevation of recommended use environment should not
exceed 1,000m;
The temperature difference between day and night of recommend-
ed use environment should not exceed 25℃;
This Section includes some precautions that should be paid attention to for SCOUT MINI use and development.
4.1 Battery precautions 4.2 Application environment precautions
4.4 Safety precautions
4.5 Other notes
4.3 Precautions for electrical external extension
16