AgileX TRACER MINI User manual

TRACER MINI
AgileX Robotics Team
User Manual V1.0.0 2022.05.18

This chapter contains important safety information that must be read and understood by any individual
or organization before using the equipment when the robot is powered on for the first time. You can
contact us at [e-mail] if you have any questions about usage. It is very important that all
assembly instructions and guidelines in other chapters of this manual are followed and implemented.
Particular attention should be paid to text associated with warning signs.

Safety Information
The information in this manual does not include the design, installation and operation of a complete robotic
application, nor does it include any peripherals that may affect the safety of this complete system. The design and
use of this complete system requires compliance with the safety requirements established in the standards and
specifications of the country where the robot is installed.
It is the responsibility of TRACER MINI's integrators and end customers to ensure compliance with relevant
specifications and effective laws and regulations, so as to ensure that there are no major hazards in the complete
robot application example. This includes but is not limited to the following:
1. Validity and Responsibility 2. Environment
 Make a risk assessment of the complete robot
system.
 Link together the additional safety equipment
for other machinery as defined by the risk
assessment.。
 Confirm that the design and installation of the
peripherals of the complete
robot system,
including software and hardware systems, are
accurate.

This robot does not have relevant safety
functions of a complete autonomous mobile
robot, including but not limited to automatic
anti-collision, anti-falling
, biological
approach warning, etc. These functions
require integrators and end customers to
conduct safety assessments in accordance
with relevant rspecifications and effective
laws and regulations, so as to ensure that the
developed robot does not have any major
dangers and safety hazards in practical
applications.

Gather all documents in the technical file:
including the risk assessment and this
manual.
 When using it for the first time, please read this
manual vehicle
efully to understand the basic
operation contents and operation specifications.
 For remote operation, choose a relatively open
area for use, and the vehicle
itself does not
have any automatic obstacle avoidance sensors.
 Use in an ambient temperature of -10℃~45℃.
 If the IP protection level of the vehicle is not
customized separately, the waterp
roof and
dustproof capability of the vehicle is IP22.
3. Inspection

Make sure that each device has sufficient
power.

Make sure there is no obvious abnormality in
the vehicle.

Check that the remote control's batteries are
fully charged
4. Operation

Ensure that the surrounding area is relatively
empty during operation.
 Remote control within sight distance.
 The maximum load of TRACER MINI is 80KG.
When in use, make sure the payload does not
exceed 80KG.
 When installing an external exten
sion on
TRACER MINI, confirm the centroid position of
the extension and make sure it is at the center of
rotation.
 Please charge in time when the device voltage is
lower than 25V.

When the equipment is abnormal, please stop
using it immediately to avoid secondary injury.

When the equipment is abnormal, please contact
the relevant technical personnel, and do not handle
it without authorization.
 Please use the equipment
in an environment that
meets the protection class requirements according
to its IP protection class.
 Do not push the vehicle directly.

When charging, make sure the ambient
temperature is greater than 0°C.
5. Maintenance

In order to ensure the storage capacity of the battery, the battery should be stored with electricity, and it
should be charged regularly when not in use for a long time.

Table of contents
1 Introduction of TRACER MIN 13.3.3 Realization of CAN command control 12
1.1 Product list 1 3.4 Firmware upgrade 13
1.2 Performance parameters 1 3.5 TRACER MINI ROS Package usage example 13
1.3 Required for development 1
2 The Basics 24 Attention 18
2.1 Status indication 3 4.1 Battery precautions 19
2.2 Electrical interface descriptio 3 4.2 Precautions for operational environment 20
2.2.1 Description of rear electrical interface 34.3 Precautions for electrical external expansion 20
20
2.3 Remote control instructions 44.4 Other precautions 20
2.4 Control command and motion description 5
5 Q&A 20
3 Getting Started 6
3.1 Use and operation 6 6 Other precautions 21
3.2 Charging 6 6.1 Illustrations of product outline dimensions 21
3.3 Development 6
3.3.1 CAN interface protocol 6
3.3.2 CAN line connection 12

1 Introduction of TRACER MINI n
TRACER MINI is an all-round industrial UGV (UNMANNED GROUND VEHICLE). As a multi-functional
modular mobile robot development platform for industrial applications with a modular and intelligent design
concept, it has a wide range of applications with strong load capacity and strong power system. The combination
of the two-wheel difference and hub motor makes it possible to move flexibly indoors. Stereo camera, lidar, GPS,
IMU, manipulator and other equipment can be optionally added to TRACER as an extended application.
TRACER MINI can be applied to unmanned inspection, scientific research, logistics and other fields.
1.1 Product list
Name Quantit
TRACER MINIrobot body x1
Battery charger 220V x1
Remote control (optional) x1
Aviation plug male（4 Pin）x1
USB to CAN communication module x1
1.2 Performance parameters
Parameter type Item Index
Mechanical parameters
LxWxH(mm) 427.5X 416X 194
Wheelbase(mm) 269
Vehicle body weight (Kg) 24~28
Battery type Lithium battery 24V 15Ah
Motor DC brushless 2 X 150W
Drive form Independent drive
Suspension form Swing arm independent suspension
Steering Differential steering
Safety equipment Servo Brake / Bumper
Performance parameters
Idling maximum speed（m/s）1.8
Minimum turning radius Can turn in place
Code wheel parameters 1024 Line
Minimum ground clearance (mm) 30
Maximum gradeability 8°
Control parameters
Control mode Remote control command mode
Remote Control 2.4G / critical distance 200m
Communication interface CAN
1.3 Required for development
The TRACER MINI can be equipped with a remote control when it leaves the factory. The user can control the
TRACER mobile robot chassis through the remote control to complete the movement and rotation operations.
Besides, TRACER MINI is equipped with a CAN interface, through which users can conduct secondary
development.
1

2 The Basics
This part will give a basic introduction to the TRACER MINI mobile robot chassis, so that users and developers
can have a basic understanding of the TRACER chassis. Figures 2.1 and 2.2 as shown below are overview
diagrams of the entire mobile robot chassis.
Figure 2.1 Front overview diagram
Figure 2.2 Rear overview diagram
TRACER MINI adopts a modular and intelligent design concept as a whole, coupled with a powerful DC hub
motor, so that the TRACER MINI robot chassis development platform can move flexibly on the flat ground
indoors. The front end of the vehicle body is installed with a bumper, which can cut off the power of the motor in
the event of an emergency and reduce the damage to the vehicle body.
Lights are installed in front of the vehicle body, and the front side is designed with blue light for illumination.
The rear of the TRACER MINI is equipped with an open electrical interface and communication interface, which
is convenient for customers to vehiclery out secondary development. The electrical interface adopts aviation
waterproof connectors in the design and selection, which is conducive to the expansion and use of users on the
one hand, and makes the robotplatform available in some harsh environments on the other hand.
Mounting bracket
Bumper
Cabin panel
Electrical panel
2

2.1 Status indication
Users can determine the status of the vehicle body through the voltmeter, lights and buzzer installed on the
TRACER MINI. For details, please refer to Table 2.1.
Status Description
Current voltage After power-on, the rear voltmeter lights up, and the current battery voltage can be viewed
through the voltmeter in the rear electrical panel, accurate to 1V.
Low voltage alarm
When the battery voltage is lower than 22V, the vehicle body will make a "drip-drip-drip"
harsh sound to prompt. When it is detected that the battery voltage is lower than 21.5V, in
order to prevent battery damage, TRACER MINI will actively cut off the external
extended power supply and actuator power supply. At this time, the chassis will be unable
to perform motion control and accept external command control.
Buzzer alarm
For buzzer alarm, one beep (drip...drip....) represents a low-voltage warning. Two beeps
indicate that the bumper bar is triggered or the remote control is disconnected. Three
beeps represent motor overcurrent. Four beeps means the drive communication is lost.
Five beeps represent low-voltage faults. Six beeps represent external 12V overcurrent.
Table 2.1 Vehicle body status description table
2.2 Electrical interface description
2.2.1 Description of rear electrical interface
The extension interface at the rear is shown in Figure 2.3, in which Q1 is the CAN and 24V power extension
interface; Q2 is the power display meter; Q3 is the button switch, which is the main switch of the electrical part;
Q4 is the power charging port.
Figure 2.3 Extension interface at the rear
3

The rear is equipped with a CAN communication interface and a 24V power interface. The specific definition of
its line sequence is shown in Figure 2.5.
Pin No. Pin Type Function and
Definition Remarks
1 Power VCC Positive power supply, voltage range 23~29.2v,
maximum current 7A
2 Power GND Negative power supply
3 CAN CAN_H CAN bus high
4 CAN CAN_L CAN bus low
Figure 2.5 Pin description diagram of rear aviation interface
2.3 Remote control instructions
FS remote control is an optional accessory for TRACER MINI products. Customers can choose according to
actual needs, and can easily control the chassis of the TRACER MINI universal robot by using the remote control.
In this product, we adopt the design of the left-hand accelerator. See Figure 2.6 for its definition and functions.
Figure 2.6 Schematic diagram of FS remote control buttons
The functions of the button are defined as: SWA and SWD are temporarily disabled. SWB is the control mode
selection button, turning to the command control mode when pushed to the top, and the remote control mode
when pushed to the middle. SWC is the lamp mode button. S1 is the accelerator button, which controls TRACER
to move forward and backward; S2 controls the rotation. POWER is the power button. Press and hold at the same
time to turn on the remote control. The back button on the left is used for fault clearing. When pressed, the fault
state will be reset. In particular, if the bumper protection is triggered, if the bumper bar is not in contact at this
time, press it to reset the fault state; when it is in the contact state, you need to press the button and the accelerator
back to release.
Vehicle model
Battery voltage
Chassis status
Chassis battery percentage
Parking
Remote control battery
Errors
(Refer to the failure information description table)
4

2.4 Control command and motion description
We establish the coordinate reference frame of the ground mobile vehicle according to the ISO 8855 standard as
shown in Figure 2.7.
Figure 2.7 Schematic diagram of the vehicle body reference frame
As shown in 2.7, the TRACER MINI body is parallel to the X-axis of the established reference frame.
In the remote control mode, the remote control joystick S1 moves in the positive direction of X when pushed
forward, and moves in the negative direction of X when pushed backward. When S1 is pushed to the maximum
value, the movement speed in the positive direction of X is the largest, and when pushed to the minimum value,
the movement speed in the negative direction of the X direction is the largest. The remote control joystick S2
controls the rotation of the vehicle body left and right. When S2 is pushed to the left, the vehicle body rotates from
the positive direction of the X axis to the positive direction of the Y axis. When S2 is pushed to the right, the
vehicle body rotates from the positive direction of the X axis to the negative direction of the Y axis. When S2 is
pushed to the left to the maximum value, the linear velocity of counterclockwise rotation is the largest, and when
it is pushed to the right to the maximum value, the linear velocity of the clockwise rotation is the largest.
In the control command mode, the positive value of the linear velocity means moving in the positive direction of
the X-axis, and the negative value of the linear velocity means moving in the negative direction of the X-axis. The
positive value of the angular velocity means that the vehicle body moves from the positive direction of the X-axis
to the positive direction of the Y-axis, and the negative value of the angular velocity means that the vehicle body
moves from the positive direction of the X axis to the negative direction of the Y axis.
5

3 Getting Started
This part mainly introduces the basic operation and use of the TRACER MINI platform, and introduces how to
carry out the secondary development of the vehicle body through the external CAN port and the CAN bus
protocol.
3.1 Use and operation
Check Start up
 Check the vehicle body condition. Check whether there
is any obvious abnormality in the vehicle body; if so,
please contact after-sales support;
 Press the power switch (Q3 in the electrical panel), under
normal circumstances, the voltmeter displays the battery
voltage normally, and the front light is on normally;
Power off
 Press the power switch to cut off the power;
Basic operation process of remote control
 After the TRACER MINI robot chassis is started normally, turn on the remote control and select the control
mode as the remote control mode, so that the motion of TRACER MINI platform can be controlled by the
remote control.
3.2 Charging
TRACER MINI products are equipped with a 10A charger by default, which can meet the charging needs of
customers. The specific operation process of charging is as follows
 Make sure that the TRACER MINI
chassis is in a
power-off state. Before charging, please confirm that Q3
(power switch) in the rear electrical console is turned off；
 Insert the plug of the charger into the Q4 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.
 When charging by default, there is no indicator light on
the chassis. Whether it is charging or not depends on the
status indication of the charger
3.3 Development
TRACER MINI products provide a CAN interface for users’development, through which users can command
and control the vehicle body.
3.3.1 CAN interface protocol
T
TRACER MINI products adopt CAN2.0B standard for the CAN communication standard, with the
communication baud rate of 500K and the message format of MOTOROLA. The moving linear velocity and
rotating angular velocity of the chassis can be controlled through the external CAN bus interface. Besides,
TRACER MINI will feedback the current motion state information and the state information of the TRACER
MINI chassis in real time, etc.
The protocol includes a system state feedback frame, a motion control feedback frame, and a control frame. The
details of the protocol are as follows:
The system state feedback command includes current vehicle body state feedback, control mode state feedback,
battery voltage feedback and fault feedback. The protocol contents are shown in Table 3.1.
6

Table 3.1 TRACER MINI Chassis State Feedback Frame
Command name System state feedback command
Sending node Receiving Node ID Cycle（ms）Receiving Timeout (ms)
Wire-controlled
chassis Decision control unit 0x211 20ms None
Data length 0x08
Location Function Data type Description
byte [0] Current vehicle body
state un sig ned i nt8 0x00 System normal
0x02 System exception
byte [1] Mode control unsigned int8
0x00 Standby mode
0x01 Command control mode
0x02 APP control mode (launchedlaterh
0x03 Remote control mode
byte [2]
byte [3]
The upper eight bits of
battery voltage
The lower eight bits of
battery
unsigned int16 Actual voltage X10 (accurate to 0.1V)
byte [4]
byte [5]
The upper eight bits of
battery voltage
The lower eight bits of
battery
unsigned int16 Please refer to the remarks [Fault Information
Description]
byte [6] Reserved 0X00
byte [7] Count check(count) unsigned int8 0~255 loop count
Table 3.2 Explanation table of fault information
Fault information description
byte [4]
bit [0] Reserved
bit [1] External power supply 12V overcurrent (0: no fault 1: fault)
bit [2] Reserved
bit [3] Reserved
bit [6] Reserved
bit [7] Bumper protection (0: no fault 1: fault)
byte [5]
bit [0] Battery undervoltage fault(0: no fault 1: fault)
bit[l] Battery undervoltage warning(0: no warning 1: warning)
bit [2] Remote control loss protection (0: no fault 1: fault)
bit⑶Reserved
bit [6] Reserved
bit [7] Reserved
The motion control feedback frame command includes the feedback of current vehicle body’s motion linear
velocity and motion angular velocity. The specific content of the protocol is shown in Table 3.3.
7

Table 3.3 Motion Control Feedback Frame
Command name Motion control feedback command
Sending Node Receiving Node ID Cycle（ms）Receiving Timeout (ms)
Wire-controlled
chassis Decision control unit 0x221 20ms 无
Data length 0x08
Location Function Data Type Description
byte [0]
byte [1]
The upper eight bits
of the movement
speed
The lower eight bits
of the movement
speed
signed int16 Vehicle body movement speed unit: mm/s
byte [2]
byte [3]
The upper eight bits
of the movement
speed
The lower eight bits
of the movement
speed
signed int16 Vehicle body rotation angular velocity unit: 0.001rad/s
byte [4] Reserved 0x00
byte [5] Reserved 0x00
byte [6] Reserved 0x00
byte [7] Reserved 0x00
The control frame includes the linear velocity control opening and the angular velocity control opening. The
specific protocol content is shown in Table 3.4.
Table 3.4 Motion Control Command Control Frame
Command name Control command
Sending node Receiving node ID Cycle（ms）Receiving Timeout (ms)
Decision control unit Chassis node 0x111 20ms 500ms
Data length 0x08
Position Function Data type Description
byte [0]
byte [1]
The upper eight bits
of the movement
speed
The lower eight bits
of the movement
speed
signed int16 Vehicle body movement speed unit mm/s
RMS ±1800
byte [2]
byte [3]
The upper eight bits
of the movement
speed
The lower eight bits
of the movement
speed
signed int16 Vehicle body rotation speed RMS ±1000 units 0.001rad/s
byte [4] Reserved —0x00
byte [5] Reserved — 0x00
byte [6] Reserved
—
0x00
byte [7] Reserved — 0x00
8

The light control feedback frame command contains the feedback of the current front light state, as shown in
Table 3.5. Table 3.5 Light Control Command Frame
Command Name
Light Control Frame
Sending node
Receiving node
ID
Cycle
（
ms
）
Receiving Timeout (ms)
Decision control
unit
Chassis node 0x121 25ms None
Data length
0x08
Position
Function
Data type
Description
byte [0] Light control enabling sign unsigned int8
0x00 Invalid control command
0x01 Light control enabling
byte [1] Front light mode unsigned int8
0x00 Normally off
0x01 Normally open
0x02 Breathing light mode
0x03 Customer-defined brightness
byte [2]
Front light custom
brightness
unsigned int8
[0,100], where 0 is not bright, 100 is the brightest
Note[5]
byte [3]
Reserved
0x00
byte [4]
Reserved
0x00
byte [5]
Reserved
0x00
byte [6]
Reserved
0x00
byte [7] Count check(count) un sig ned int8
0~255 loop count, count up once every time a
command is sen
Note[5]: This value is valid in custom mode
The light control frame command includes the light control mode and opening. The specific content is shown in
Table 3.6. Table 3.6 Light Control Feedback Frame
Command Name
Light Control Feedback Frame
Sending Node
Receiving Node
ID
Cycle
（
ms
）
Receiving Timeout (ms)
Wire-controlled
chassis
Decision control unit 0x231 20ms Decision control unit
Data length
0x08
Location
Function
Data type
Description
byte [0]
Current light control
enabling sign
unsigned int8
0x00 Invalid control command
0x01 Light control enabling
byte [1] Front light mode unsigned int8
0x00 Normally off
0x01 Normally open
0x02 Breathing light mode
0x03 Customer-defined brightness
byte [2]
Current front light custom
brightness
unsigned int8 [0,100], where 0 is not bright, 100 is the brightest
byte [3]
Reserved
0x00
byte [4]
Reserved
0x00
byte [5]
Reserved
0x00
byte [6]
Reserved
0x00
byte [7] Count check(count) un sig ned int8
0~255 loop count, count up once every time a
command is sent
9

The control mode frame package is used to set the control mode of the chassis, as shown in Table 3-7
Table 3.7 Control mode setting frame description table
Command
name
Control mode setting command
Sending node Receiving node ID Cycle（ms）Receiving Timeout (ms)
Wire-controlled
chassis
Decision control unit 0x421 None None
Data length
0x01
Position
Function
Data type
Description
byte [0] Control mode unsigned int8
0x00 Standby mode
0x01 CAN command control mode[1]
Enter standby mode by default after power on
Note[1] Control mode description
The default control mode is the standby mode, and you need to switch to the command mode to send the motion
control command. If the remote control is turned on, it has the highest authority and can block the control of
commands. When the remote control switches to the command mode, it still needs to send the control mode
setting command before responding to the speed command.
The state setting frame is used to clear system errors, and its specific protocol content is shown in Table 3.8.
Table 3.8 State setting frame description table
Command
name
State setting command
Sending node Receiving node ID Cycle（ms）
Receiving Timeout
(ms)
Wire-controlled
chassis Decision control unit 0x441 None None
Data length
0x01
Position
Function
Data type
Description
byte [0] Control mode unsigned int8
0x00 Clear all errors
0x01 Clear motor 1 error
0x02 Clear motor 2 error
Table 3.9 Odometer feedback frame description table
Command
name
Odometer feedback command
Sending node Receiving node ID Cycle（ms）Receiving Timeout (ms)
Wire-controlled
chassis Decision control unit 0x311 None None
Data length
0x08
Position
Function
Data type
Description
byte [0]
The highest bit of the left
wheel odometer
signed int32 Left wheel odometer data
Unit mm
byte [1]
The second highest bit of
the left wheel odometer
byte [2]
The second lowest bit of
the left wheel odometer
byte [3]
he lowest bit of the left
wheel odometer
byte [4]
The highest bit of the right
wheel odometer
signed int32- Rught wheel odometer data
Unit mm
byte [5]
The second highest bit of
the right wheel odometer
byte [6]
The second lowest bit of
the right wheel odometer
byte [7]
The lowest bit of the right
wheel odometer
10

In addition to the feedback of the state information, the feedback information of the chassis also includes motor
information. The following frame feedback is the motor information feedback: in the chassis, the corresponding
motor numbers of the two motors are as shown in the following figure:
Figure 3.0 Motor Feedback ID Schematic Table
Table 3.10 Motor high-speed information feedback frame
Command
name Motor high-speed information feedback frame
Sending node Receiving node ID Cycle（ms）Receiving Timeout (ms)
Decision control
unit Wire-controlled chassis 0x251~0x252 20ms None
Data length 0x08
Position Function Data type Description
byte [0] The upper eight bits of
motor speed signed int16 Current Motor speed
byte [1] The lower eight bits of
motor speed unit RPM
byte [2] The upper eight bits of
motor current 0x00
byte [3] The lower eight bits of
motor current -- 0x00
byte [4] The current position of the motor is the
highest -- 0x00
byte [5] The current position of the motor is the second
highest -- 0x00
byte [6] The current position of the motor is the second
lowest 0x00
byte [7] The current position of
the motor is the lowest 0
11

Table 3.11 Motor low-speed information feedback frame
Command name Motor low-speed information feedback frame
Sending node Receiving node ID Cycle（ms）Receiving Timeout (ms)
Decision control
unit Wire-controlled chassis 0x261~0x262 100ms None
Data length 0x08
Position Function Data type Description
byte [0] Reserve 0x00
byte [1] Reserve 0x00
byte [2] Reserve 0x00
byte [3] Reserve 0x00
byte [4] Reserve 0x00
byte [5] Actuator state See Table 3-12 for details
byte [6] Reserve 0x00
byte [7] Reserve 0
Table 3.12 Fault information description table
Fault information description
byte [5]
bit [0] Reserved
bit [1] Reserved
bit [2] Whether the motor is overcurrent (0: normal 1: overcurrent)
bit [3] Reserved
bit [4] Whether the CAN communication is disconnected (0: normal 1:
disconnected)
bit [6] Reserved
bit [7] Reserved
3.3.2 CAN line connection
TRACER MINI provides an aviation plug male as shown in Figure 3.2. For the definition of the line, please refer
to Table 3.2.
3.3.3 Realization of CAN command control
Start the TRACER MINI mobile robot chassis normally, turn on
the FS remote control, and then switch the control mode to command
control, that is, push the SWB mode selection button to the top, then
the TRACER chassis will accept the command from the CAN
interface, and the host can also analyze the current chassis status
through the real-time data fed back by the CAN bus. Refer to the
CAN communication protocol for the specific protocol content
Figure 3.2 Schematic diagram of aviation plug male
Note: The power supply in this version can provide a
maximum current of 7A.
Blue: CAN_L
Yellow: CAN_H
12

3.4 Firmware upgrade Upgrade process
In order to facilitate users to upgrade the firmware version of
TRACER MINI and bring to customers more perfect
experience, TRACER MINI provides the hardware interface
for firmware upgrade and the corresponding client software.
Its client interface is shown in Figure 3.3.
- Ensure that the robot chassis power is off before
connection;
 Use the Serial to connect to the TRACER MINI chassis to
upgrade the serial port, and connect it to the computer;
 Open the client software;
 select the port number;
 TRACER MINIchassis is powered on, click Start
Connection immediately, (TRACER MINI
chassis will
wait for 3S before power-on; if the time exceeds 3S, it
will enter the application);if the connection is successful,
it will prompt "connection successful" in the text box;
 Load BIN file;
 Click on upgrade and wait for the prompt that the upgrade
is complete; Disconnect the Serial, power off the chassis,
and power it on again.
Upgrade preparation
 Serial X 1
 USB serial portX 1
 TRACER MINI chassis X 1
 PC(WINDOWS operating system) X 1
Firmware upgrade software
• https://github.com/agilexrobotics/agilex_firmware
Figure 3.3 Firmware upgrade client interface
13

3.5 TRACER MINI ROS Package Usage Example
ROS provides some standard operating system services, such as hardware abstraction, low-level device control, implementation of
common functions, inter-process messaging, and data packet management. ROS is based on a graphical
architecture, so that
processes of different nodes can receive, publish, and aggregate various information (such as sensing, control, state, planning, etc.).
Currently ROS mainly supports UBUNTU.
Development preparation
Hardware preparation
 CANlight can communication module X1
 Thinkpad E470 Laptop X1
 AGILEX TRACER MINI mobile robot chassis X1
 AGILEX TRACER MINI supporting remote control FS-i6s
X1
 AGILEXTRACER MINI top aviation receptacle X1
Environment description of usage example
 Ubuntu 16.04 LTS（this is a beta version, tested on
Ubuntu 18.04 LTS）
 ROS Kinetic（also tested in subsequent versions）
 Git
Hardware connection and preparation
 Pull out the CAN line of the TRACER MINI rear aviation plug, and connect the CAN_H and CAN_L in the CAN line to the
CAN_TO_USB adapter respectively;
 Turn on the chassis knob switch of the TRACER MINI mobile robot;
 Connect CAN_TO_USB to the USB port of the laptop. The connection diagram is shown in Figure 3.4.
Figure 3.4 CAN line connection diagram
ROS Installation and Environment Setup AGILEX TRACER MINI ROS PACKAGE Download and compile
For installation details, please refer to
http://wiki.ros.org/kinetic/Installa-
tion/Ubuntu
• Download ros dependencies
$ sudo apt install ros-$ROS_DISTRO-teleop-twist-key- board
$ sudo apt install libasio-dev
• clone and compile tracer_ros source code
$ cd ~/catkin_ws/src
$ git clone https://github.com/agilexrobotics/
ugv_sdk.git
$ git clone https://github.com/agilexrobotics
/tracer_ros.git
$ cd ..
$ catkin_make
Reference：https://github.com/agilexrobotics/tracer_ros
Test CANABLE hardware and CAN communication
Set up CAN-TO-USB adapter
• Enabling gs_usb kernel module
$ sudo modprobe gs_usb
• Set 500k baud rate and Enabling can-to-usb adapter
$ sudo ip link set can0 up type can bitrate 500000
• If
no errors occurred in the previous steps, you
should be able to view the can device immediately
with the command
$ ifconfig -a
• Install and use can-utils to test hardware
$ sudo apt install can-utils
• If the can-to-usb has been connected to the TRACER
robot this time, and the vehicle is powered on, use
the following commands to monitor the data from
the TRACER chassis
$ candump can0
• Reference：
[1]https://github.com/agilexrobotics/agx_sdk
[2]https://wiki.rdu.im/_pages/Notes/Embed-
ded-System/Linux/can-bus-in-linux.html
Start the ROS node
• Start the basic node through the can port
$ roslaunch tracer_bringup tracer_robot_base.launch
• Start the keyboard remote operation node
$ roslaunch tracer_bringup tracer_teleop_keyboard.launch
1. Red: VCC（positive）
2.
Black: GND（negative
）
External
power
supply
CANline
3 Yellow：CAN_H
4
Blue: CAN_L
14

4 Attention
This part contains some points that should be paid attention to when using and developing TRACER MINI。
4.1 Battery precautions 4.2 Precautions for operational environment
The battery of the TRACER MINI
product is not fully
charged when it leaves the factory. The specific battery power
can be displayed by the TRACER MINI chassis rear voltage
display or
read through the CAN bus communication
interface; Regarding the charging time, the green indicator
light on the charger indicates that the charging is completed,
but the battery will still be slowly charged at a current of 0.1A
after the green light is on, and it can be charged for about 30
minutes; please do not recharge after the battery is used up.
Please charge in time when the TRACER MINI prompts that
the battery is low;
Static storage conditions: The best storage temperature is
-10℃~45℃. The battery should be charged and discharged
once every two months or so when it is not in use, and then the
battery should be stored at full voltage. Do not put the battery
into fire, or heat the battery, and do not store the battery at
high temperature;
Charging: It must be charged with a special charger for lithium
batteries. Do not charge the battery below 0°C, and do not
use batteries, power supplies and chargers that are not standard
in the original factory.
The working temperature of TRACER MINI is -10℃~45℃,
please do not use it in the environment where the temperature
is lower than -10℃and higher than 45℃;
The relative humidity requirements for the operating
environment of the TRACER MINI are: maximum 80%,
minimum 30%;
Do not use it in an environment with corrosive or flammable
gases or in an environment close to flammable substances;
Do not store around heating elements such as heaters or large
coiled resistors; except for the special customized version (IP
protection level customized), TRACER MINI does not have
water function, please do not use it in the environment with
rain, snow and standing water;
It is recommended that the altitude of the environment should
not exceed 1000M;
It is recommended that the temperature difference between day
and night should not exceed 25℃;
4.3 Precautions for electrical external
expansion 4.5 Other precautions
The rear expansion power supply current does not exceed
10A, and the total power does not exceed 240W;
When the system detects that the battery voltage is lower than
the safe voltage, the external power supply expansion will be
automatically cut off, so if the external expansion device
involves the storage of important data and there is no power
failure protection, users are advised to pay attention.
When carrying and setting up operation, please do not drop or
turn it upside down; for non-
professionals, please do not
disassemble it without permission.
4.4 Safety precautions
If you have any questions during the use process, please follow the relevant instruction manuals or consult relevant technical
personnel;
Before operating the equipment, pay attention to the on-site situation to avoid personnel security problems caused by misoperation;
Do not modify the internal device structure without technical support and permission.
5 Q&A
Q：TRACER MINI starts normally, but the vehicle body does not move with the remote control?
A：First, confirm whether the drive power supply is normal and whether the emergency stop switch is released; then confirm
whether the control mode selected by the mode selection switch on the upper left side of the remote control is correct.
Q:When the TRACER MINI remote control is normal, the chassis state and motion information feedback is normal, and the
control frame protocol is issued, why the vehicle body control mode cannot be switched, and the chassis does not respond to the
control frame protocol?
A: Under normal circumstances, if TRACER MINI can be controlled by the remote control, it means that the chassis motion
control is normal, and it can receive the feedback frame of the chassis, which means that the CAN extension link is normal. Please
check the sent CAN control frame to see if the command control mode is switched. You can check the status of the error flag in the
error bit in the state frame fed back by the chassis.
Q: TRACER makes a "drip-drip-drip..." sound during operation, what should I do?
A: If the TRACER MINI emits continuous "drip-drip-drip..." sound, it indicates that the battery is already in the alarm voltage state,
please charge it in time; after the relevant sound appears, there may also be an internal related error, you can check the related error
through the CAN bus code, or communicate with relevant technical personnel.
Q:When the relevant communication is carried out through the CAN bus, and the chassis feedback command is normal, why does the
vehicle do not respond after the control is issued?
A: TRACER MINI has a communication protection mechanism inside. Chassis has a timeout protection mechanism when dealing
with external CAN control commands. Assuming that after the vehicle receives a frame of communication protocol, it does not
receive the next frame of control commands for more than 500MS, and it will enter the communication protection with a speed of 0,
so the command from the host computer must be periodically issued.
15

6 Product Dimensions
6.1 Illustrations of product outline dimensions
16