# SixWheelRobot

**Repository Path**: RICS-Group/six-wheel-robot

## Basic Information

- **Project Name**: SixWheelRobot
- **Description**: No description available
- **Primary Language**: C++
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-12-01
- **Last Updated**: 2021-06-08

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ROS Packages for Robotics and Intelligent Systems Laboratory  (RIS) Six Wheel Robot Base

## Packages

* ris_bringup: launch and configuration files to start ROS nodes 
* ris_base: a ROS wrapper around Ris SDK to monitor and control the robot
* ris_sdk: Ris SDK customized for ROS
* ris_msgs: ris related message definitions
* (ris_ros: meta package for the Ris robot ROS packages)

## Communication interface setup

### Setup CAN-To-USB adapter 
 
1. Enable gs_usb kernel module
   
    ```
    $ sudo modprobe gs_usb
    ```

2. Bringup can device
   
   ```
   $ sudo ip link set can0 up type can bitrate 500000
   ```

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

4. Install and use can-utils to test the hardware
   
    ```
    $ sudo apt install can-utils
    ```

5. Testing command
   
    ```
    # receiving data from can0
    $ candump can0
    # send data to can0   LIGHT_CONST_ON
    $ cansend can0 140#01016400000000AF  
	```

6. Then enter the following command to bring up the device each time you unplug and re-plug the adapter.
	```
   $ sudo ip link set can0 up type can bitrate 500000
   ```
## Basic usage of the ROS package

1. Clone the packages into your catkin workspace and compile

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

    ```
    $ cd ~/catkin_ws/src
    $ git clone ##https://gitee.com/RICS-Group/six-wheel-robot.git
    $ cd ..
    $ catkin_make
    ```
2. Launch ROS nodes
 
* Start the base node for the real robot

    ```
    $ roslaunch ris_bringup ris_sixwheel.launch
    ```
3. Make sure your remote controller is in PC control mode ,then you can enter speed control commands with a new terminal 
	```
	$ rostopic pub -r 20 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.2, y: 0, z: 0}, angular: {x: 0, y: 0, z: -0.3}}'
	```