FW-mini

Omnidirectional UGV FW-mini ROS package / YUHESEN robot platform

tested environment

• ubuntu 22.04
• ROS2 Humble

dependencies

sudo apt install ros-humble-nav-msgs
sudo apt install ros-humble-rqt-robot-steering

clone && build && launch

• source ROS2 environment

source /opt/ros/humble/setup.bash

• move to {workspace}/{source_folder}

cd ~/ros2_ws/src

• clone packages

git clone https://github.com/RLmodel/FW-mini.git

• move to workspace

cd ~/ros2_ws

• colcon build && source install folder

colcon build --symlink-install --packages-select yhs_can_interfaces
colcon build --symlink-install --packages-select yhs_can_control
source install/setup.bash

• ip link up && set bitrate

sudo ip link set can0 up type can bitrate 500000

• launch

ros2 launch yhs_can_control yhs_can_control.launch.py

• cmd_vel control test

rqt_robot_steering

Debug

• check can connection

ifconfig -a | grep can

• check can message

candump can0

Platform && 3D Model