AgileX 2023.09 Robotics Team User Manual

Before using the equipment, ensure to read and understand all
safety information provided in the manual. Perform a risk
assessment of the complete robot system and confirm accurate design
and installation of peripherals.

Environment

Read the manual carefully before using the robot for the first
time. Choose an open area for remote operation as the vehicle lacks
automatic obstacle avoidance sensors. Operate in an ambient
temperature range of 0~40°C.

Inspection

Ensure each device has sufficient power.
Check for any abnormalities in the vehicle.

Verify that the remote control’s batteries are fully
charged.

Operation

Ensure the surrounding area is clear during operation.

Keep the remote control within sight range.
Do not exceed the maximum load capacity of 25KG.

Confirm the center of mass position when installing external
extensions.
Charge the device promptly when low battery alarm sounds.

Operate in an environment that meets protection level
requirements.

FAQ

Q: What should I do if the device alarms for low battery?

A: Please charge it promptly to avoid disruption during
operation.

Q: Can I exceed the maximum load capacity of 25KG?

A: No, it is important not to exceed the specified load capacity
to ensure safe operation of the device.

Q: What is the operating temperature range of the BUNKER MINI
2.0?

A: The recommended operating temperature range is from 0 to 40
degrees Celsius.

“`

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BUNKER
MINI
2.0
User
Manual

BUNKER
MINI AgileX Robotics Team User
Manual V.2.0.1

2023.09

Document
version

No. Version

Date

Edited by

Reviewer

1 V1.0.0 2023/1/15

Notes first draft

1 / 38

2 V2.0.0 2023/3/21

V2.0.1 2023/09/02

V2.0.2 2023/09/06

1. Modify the ros driver readme 2. Change bunkermini three views 3. Added remote control information feedback
4. Added mileage information feedback
5. Added bms information feedback
6. Optimize page layout
Add rendering image Modify how to use ROS package
Document checking
Update remote control picture Optimize file format Aviation insert update
Updated appearance dimension diagram

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 support@agilex.ai 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.

2 / 38

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 BUNKERMINI’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:
Validity
and
Responsibility
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. Be aware of possible safety risks before operating and using the equipment.
Environment
When using it for the first time, please read this manual vehicleefully 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 0~40.
3 / 38

If the vehicle does not have an individually customized IP protection level, the vehicle’s waterproof and dustproof capabilities are IP67.
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.
Operation
Make sure the surrounding area is relatively clear during operation Remote control within sight range The maximum load capacity of BUNKERMINI is 25KG. When using it, make sure the payload
does not exceed 25KG. When installing external extensions on BUNKERMINI, confirm the position of the center of mass
of the extension to ensure it is at the center of rotation When the device alarms for low battery, please charge it in time. Please use the device in an environment that meets the protection level requirements according
to the IP protection level of the device. Please do not push the cart directly The tail extension power supply current does not exceed 10A, and the total power does not
exceed 240W.
Battery
precautions
The battery of BUNKER MINI products is not fully charged when it leaves the factory. The specific battery voltage and power can be displayed through the voltage display meter at the rear of the BUNKER MINI chassis or through the vol and batt on the remote control.
Please do not charge the battery after it is used up. Please charge it in time when the BUNKER MINI remote control battery is lower than 15% or the tail voltage display is lower than 25V.
Static storage conditions: The optimal storage temperature is -10~40. When the battery is not in use, it must be charged and discharged once every month, and then stored at full voltage. Do not store the battery Place in fire, or heat the battery. Do not store batteries at high temperatures.
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Charging: You must use the matching dedicated lithium battery charger for charging. Do not charge the battery below 0°C. Do not use non-original standard batteries, power supplies, and chargers.
Precautions
for
use
environment
The working temperature of BUNKER MINI is -10~40. Please do not use it in environments with temperatures below -10 or above 40.
Do not use it in an environment with corrosive or flammable gases or near flammable substances.
Please do not use it near heating elements such as heaters or large coil resistors. BUNKER MINI is IP67 waterproof and dustproof. Please do not use it soaked in water for a long
time. Check and remove rust regularly. It is recommended that the operating environment altitude does not exceed 1000M It is recommended that the temperature difference between day and night in the use
environment does not exceed 25 Regularly inspect and maintain track tensioners
Safety
Precautions
If you have any questions about the use process, please follow the relevant instruction manual or consult relevant technical personnel.
Before using the equipment, pay attention to the on-site conditions to avoid improper operation that may cause personal safety problems.
In case of emergency, press the emergency stop button to power off the equipment. Please do not modify the internal device structure without technical support and permission. When something goes wrong with the equipment, please stop using it immediately to avoid
secondary damage. When an abnormality occurs in the equipment, please contact the relevant technical personnel
and do not handle it without authorization.
CONTENTS
5 / 38

Document
version

CONTENTS

Safety
Information

CONTENTS

1 Introduction
of
BUNKER
MINI
2.0
1.1 Product List 1.2 Performance parameters 1.3 Required for development
2 The
Basics
2.1 Electrical interface description 2.2 Remote control instructions 2.3 Control command and motion description
3 Getting
Started
3.1 Use and operation 3.2 Charging 3.3 Development
3.3.1 CAN Cable Connection 3.3.2 CAN protocol description 3.3.3 BUNKER MINI 2.0 ROS Package Usage Example

4
Use
and
operation

6 / 38

5
Q&A

6
Product
Dimensions
6.1 Illustrations of product outline dimensions 6.2 Illustrations of top expansion bracket dimensions

1 Introduction
of
BUNKER
MINI
2.0
BUNKER MINI 2.0is an all-round tracked chassis vehicle for industrial applications. It is featured with simple and sensitive operation, large development space, adaptability to development and application in various fields, IP67 dustproof and waterproof, and great gradeability, etc. It can be used for the development of special robots such as inspection and exploration, EOD rescue, special shooting, and special transport, and is a solution to robot movement.
1.1 Product
List

Name BUNKER MINI 2.0robot body
Battery charger (AC 220V)
Aviation plug male 4Pin
FS remote control (optional) USB to CAN communication module
1.2 Performance
parameters

Quantity x1 x1 x1 x1 x1

Parameter Types Mechanical specifications

Items L × W × H (mm)

Values 690 x 570 x 335

7 / 38

Wheelbase (mm)

Front/rear wheel base (mm)

Chassis height

Track width

Curb weight (kg)

Battery Type

Battery parameters

Power drive motor

Steering drive motor

Parking mode

Steering

Suspension form

Steering motor reduction ratio

Steering motor encoder

Drive motor reduction ratio

Drive motor sensor

Performance parameters

IP Grade

Maximum speed (km/h)

Minimum turning radius (mm)

Maximum gradeability (°)

80 100 56 Lithium battery 30AH 2×250W DC brush motor Track type differential steering –
–
–
19.7 1
Magnetic braiding 1024 IP22 1.0
Can turn in place
30°

8 / 38

Control

Maximum obstacle crossing Ground clearance (mm) Maximum battery life (h) Maximum distance (km) Charging time (h)
Working temperature ()
Control mode
RC transmitter System interface

120mm 410 8 14KM 3
-10~40 Remote control Control Command control mode 2.4G/extreme distance 200M
CAN

1.3 Required
for
development
BUNKER MINI 2.0is equipped with FS remote control from the factory, through which users can control the chassis of the BUNKER MINI 2.0mobile robot to complete the movement and rotation operations. Besides, BUNKER MINI 2.0 is equipped with a CAN interface, through which users can conduct secondary development.

2 The
Basics
This part will give a basic introduction to the BUNKER MINI 2.0 mobile robot chassis, so that users and developers can have a basic understanding of BUNKER MINI 2.0chassis.
2.1 Electrical
interface
description
The rear electrical interface is shown in Figure 2.1, in which Q1 is the emergency stop switch, Q2 is the power switch, Q3 is the power display interaction, Q4 is the charging interface, and Q5 is the CAN and 24V power aviation interface.

9 / 38

Figure2.1 Rear electrical interface The definition of the communication and power interface of Q5 is shown in Figure 2-2.

Pin No.

Pin Type

Function and Definition

Power

VCC

Power

CAN

GND CAN_H

Remarks
Positive power supply, voltage range 24~29V, maximum current 10A Negative power supply CAN bus high

10 / 38

CAN

CAN_L

CAN bus low

Figure 2.2 Pin definition diagram of the rear aviation extension interface
2.2 Remote
control
instructions
The Fuss remote control is an optional accessory for BUNKER MINI products. Customers can choose according to actual needs. Using the remote control can easily control the BUNKER MINI universal robot chassis. In this product, we use the design of the left-hand accelerator. Its definition and functions can be referred to Figure 2.3. The functions of the buttons are defined as follows: SWA and SWD are temporarily not enabled. SWB is the control mode selection button. Push it to the top for command control mode. Push it to the middle for remote control mode. SWC is the car light mode button. Push it to the top. It is the normal-on mode of the car lights. Dial it to the middle to turn the lights on when the car is moving. Dial it to the bottom to switch the lights to the normally-off mode. S1 is the throttle button, which controls BUNKER MINI to move forward and backward; S2 controls rotation, and POWER is the power button. Press and hold at the same time to turn it on.

Please
note:
SWA,
SWB,
SWC,
and
SWD
all
need
to
be
at
the
top
when
the
remote
control
is
turned
on.

11 / 38

Figure 2.3 Schematic diagram of FS remote control buttons Remote
control
interface
description: Bunker : model Vol: battery voltage Car: chassis status Batt: Chassis power percentage P: Park Remoter: remote control battery level Fault Code: Error information (Represents byte [5] in 211 frame)
12 / 38

2.3 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 2.4.
Figure 2.4 Schematic diagram of the vehicle body reference frame As shown in 2.4, the BUNKER MINI 2.0 body is parallel to the X-axis of the established reference frame.
13 / 38

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.
3 Getting
Started
This part mainly introduces the basic operation and use of the BUNKER MINI 2.0 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
Check the vehicle body condition. Check whether there is any obvious abnormality in the vehicle body; if so, please contact after-sales support;
Check the emergency stop switch status. Confirm that the Q1 emergency stop button at the rear is in a released state;
When using for the first time, confirm whether Q2 (power switch) in the rear electrical panel is pressed; if so, please press and release it, and it will be in a released state
14 / 38

Start
up
Press the power switch (Q2 in the electrical panel), under normal circumstances, the light of the power switch will be on, and the voltmeter will display the battery voltage normally;
Check the battery voltage. If the voltage is greater than 24V, it indicates that the battery voltage is normal. If it is less than 24V, the battery is low, please charge it;
Power
off
Press the power switch to cut off the power;
Emergency
stop
Press the emergency stop switch at the rear of the BUNKER MINI 2.0 body;
Basic
operation
process
of
remote
control
After the BUNKER MINI 2.0 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 BUNKER MINI 2.0 platform can be controlled by the remote control.
3.2 Charging
BUNKER MINI 2.0 products are equipped with a standard charger by default, which can meet the charging needs of customers. The specific operation process of charging is as follows:
Make sure that the BUNKER MINI 2.0 chassis is in a power-off state. Before charging, please confirm that Q2 (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
15 / 38

depends on the status indication of the charger.
3.3 Development
3.3.1
CAN
Cable
Connection
BUNKER MINI is shipped with the vehicle and provides a male aviation plug as shown in Figure 3.1. The definition of the wires is yellow as CANH, blue as CANL, red as power positive, and black as negative. Note:
In
the
current
BUNKER
MINI
version,
only
the
tail
interface
is
open
to
external
expansion
interfaces.
The
power
supply
in
this
version
can
provide
a
maximum
current
of
10A.
Figure 3.1 Schematic diagram of aviation plug
3.3.2
CAN
protocol
description
BUNKER MINI products provide a CAN interface for user development, through which users can command and control the car body. The CAN communication standard in BUNKER MINI products adopts the CAN2.0B standard, the communication baud rate is 500K, and the message format adopts MOTOROLA format. The moving linear speed and rotation angular speed of the chassis can be controlled through the external CAN bus interface; BUNKER MINI will feedback the current motion status information and the status information of the BUNKER MINI chassis in real time. The protocol includes system status feedback frames, motion control feedback frames, and control frames. The protocol content is as follows: The system status feedback command includes current car body status feedback, control mode status feedback, battery voltage feedback and fault feedback. The protocol content is shown in Table 3.1:
16 / 38

Table 3.1 BUNKER MINI 2.0 Chassis State Feedback Frame

Command name

System state feedback command

Sending node Receiving Node

Cycle ms

Receiving Timeout (ms)

Wire-controlled chassis

Decision control unit

0x211

200ms

None

Data length

0x08

Location

Function

Data Type

Description

byte [0]

Current vehicle body state

unsigned int8

0x00 System normal 0x01 Emergency shut-down mode
0x02 System exception

byte [1]

Mode control

unsigned int8

0x00 Standby mode 0x01 CAN command control mode
0x03 Remote control mode

byte [2] byte [3]

The upper eight bits of battery
voltage
The lower eight bits of battery
voltage

unsigned int16 Actual voltage X10 (accurate to 0.1V)

byte [4]

Reserved

–

0x00

byte [5]

Fault information unsigned int8

For details, see [Fault Information Description]

byte [6]

Reserved

–

0x00

byte [7]

Count check(count)

unsigned int8

0~255 loop count, count up once every time a command is sent

17 / 38

Table 3.2 Explanation table of fault information

Byte byte [5]

Fault information description

Bit

Meaning

bit [0]

Battery undervoltage fault

bit [1]

Battery undervoltage warning

bit [2]

Remote control
disconnection protection 0:
normal, 1: remote control
disconnection

bit [3]

Reserved, default 0

bit [4]

Drive 2 communication fault (0: no fault, 1: fault)

bit [5]

Drive 3 communication fault (0: no fault, 1: fault)

bit [6]

Reserved, default 0

bit [7]

Reserved, default 0

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.
Table 3.3 Motion Control Feedback Frame

Command name

Motion control feedback command

Sending Node Receiving Node

Cycle ms

Wire-controlled chassis

Decision control unit

0x221

20ms

Receiving Timeout (ms)
None

18 / 38

Data length Location
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]

0x08
Function
The upper eight bits of the
movement speed The lower eight
bits of the movement speed
The upper eight bits of the
rotation speed The lower eight
bits of the rotation speed
Reserved
Reserved
Reserved
Reserved

Data Type
signed int16
signed int16
–

Description
Actual speed X 1000 (accurate to 0.001m/s)
Actual speed X 100 (accurate to 0.01rad/s)
0x00 0x00 0x00 0x00

The control frame includes the linear velocity control opening, the angular velocity control opening and the checksum. The specific protocol content is shown in Table 3.4.
Table 3.4 Motion Control Command Control Frame

Command name

Sending node Receiving node

Decision control unit

Chassis node

Control command

Cycle ms

0x111

20ms

Receiving Timeout (ms)
500ms

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Data length Position byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]

0x08
Function
The upper eight bits of the linear
velocity
The lower eight bits of the linear
velocity
The upper eight bits of
the angular velocity
The lower eight bits of the
angular velocity
Reserved
Reserved
Reserved
Reserved

Data Type

signed int16

Travel speed of the vehicle body, unit mm/s, value range [-1300,1300]

signed int16

Rotational angular velocity of the vehicle body, unit 0.001rad/s, value
range [-2000, 2000]

—

0x00

—

0x00

—

0x00

—

0x00

The mode setting frame is used to set the control interface of the terminal, and its specific protocol content is shown in Table 3.5
Table 3.5 Control Mode Setting Frame

Command name Sending node Receiving node

Control mode setting command

Cycle ms

Receiving Timeout (ms)

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Decision control unit
Data length
Position

Chassis node 0x01
Function

byte [0]

CAN control enabling

0x421

None

Data type unsigned int8

Description
0x00 Standby mode 0x01 CAN command mode It enters standby mode by default
after power-on

Note[1] Control mode description
When the remote control for BUNKER MINI 2.0 is not turned on, 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 3.6.
Table 3.6 State setting frame

Command name

State setting command

Sending node

Receiving node

Cycle ms

Receiving Timeout (ms)

Decision control unit

Chassis node

0x441

None

Data length

0x01

Position

Function

Data type

Description

byte [0]

Error clearance comman
d

unsigned int8

0x00 Clear all non-critical faults 0x01 Clear motor 1 error 0x02 Clear motor 2 error

21 / 38

Note 3: Example data, the following data is for testing use only 1. The vehicle moves forward at a speed of 0.15/S

byte [0] 0x00

byte [1] 0x96

byte [2] 0x00

byte [3] 0x00

byte [4] 0x00

byte [5] 0x00

byte [6] 0x00

byte [7] 0x00

2. The vehicle rotates at 0.2RAD/S

byte [0] 0x00

byte [1] 0x00

byte [2] 0x00

byte [3] 0xc8

byte [4] 0x00

byte [5] 0x00

byte [6] 0x00

byte [7] 0x00

In addition to the feedback of the chassis state information, the chassis feedback information also includes motor data and sensor data.
Table 3.7 Feedback of motor speed current position information

Command name

Motor driver high-speed information feedback frame

Sending node Receiving node

Cycle ms

Receiving Timeout (ms)

Wire-controlled chassis

Decision control unit

0x251~0x254

20ms

None

Data length

0x08

Position

Function

Data type

Description

byte [0] byte [1]

The upper eight bits of motor speed
The lower eight bits of motor speed

signed int16

Current Motor speed unit RPM

22 / 38

byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]

The upper eight bits of motor current
The lower eight bits of
motor current
The current position of the
motor is the highest
The current position of the
motor is the second highest
The current position of the
motor is the second lowest
The current position of the
motor is the lowest

signed int16 signed int16 signed int16 signed int16 signed int16

Current motor current unit 0.1A
The current position of the motor Unit: number of pulses

Table 3.8 Feedback of motor temperature, voltage and state information

Command name

Motor driver low-speed information feedback frame

Sending node Receiving node

Cycle ms

Receiving Timeout (ms)

Wire-controlled chassis

Decision control unit

0x261~0x264

20ms

None

23 / 38

Data length Position byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]

0x08
Function
The upper eight bits of driver voltage
The lower eight bits of driver voltage
The upper eight bits of driver temperature
The lower eight bits of driver temperature
Motor temperature
Driver state
Reserved
Reserved

Data type signed int16
signed int16 signed int8 unsigned int8
–

Table 3.9 Actuator sate

Description
Current driver voltage unit0.1v
unit 1
unit1 See Table 3-9 for details
0x00 0x00

byte [5]

bit [0] bit [1] bit [2]

Fault information description
Whether the power supply voltage is too low (0: normal 1: too low)
Whether the motor is over-temperature (0: normal 1: overtemperature)
Whether the driver is over-current (0: normal 1: over-current)

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bit [3] bit [4] bit [5] bit [6] bit [7]

Whether the driver is over-temperature (0: normal 1: overtemperature)
Sensor state (0: normal 1: abnormal) Driver error state (0: normal 1: abnormal) Driver enabling state (0: Enabling 1: Disabling)
Reserved

Table 3.10 Odometer Feedback Frame

Command name

Odometer information feedback frame

Sending node Receiving node

Cycle ms

Receiving Timeout (ms)

Wire-controlled chassis

Decision control unit

0x311

20ms

None

Data length

0x08

Position

Function

Data type

Description

byte [0] byte [1]

The highest bit of the left wheel
odometer
The second highest bit of the
left wheel odometer

signed int32

The odometer feedback of the left wheel of the chassis
Unit mm

byte [2]

The second lowest bit of the
left wheel odometer

25 / 38

byte [3] byte [4] byte [5] byte [6] byte [7]

The lowest bit of the left wheel odometer
The highest bit of the
right wheel odometer
The second highest bit of the
right wheel odometer
The second lowest bit of the
right wheel odometer
The lowest bit of the right wheel
odometer

signed int32

The odometer feedback of the right wheel of the chassis
Unit mm

Table 3.11 Remote control information feedback

Command name

Remote control information feedback frame

Sending node Receiving node

Cycle ms

Receiving Timeout (ms)

Wire-controlled chassis

Decision control unit

0x241

20ms

None

Data length

0x08

Position

Function

Data type

Description

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byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]

Remote control 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 check

unsigned int8
signed int8 signed int8 signed int8 signed int8 signed int8
-unsigned int8

bit[0-1]: SWA 2-up 3-down bit[2-3]: SWB 2-up 1-mid 3-down bit[4-5]: SWC 2-up 1-mid 3-down
bit[6-7]: SWD 2-up 3-down Value range [-100,100] Value range [-100,100] Value range [-100,100] Value range [-100,100] Value range [-100,100] 0x00 0-255 loop count

Table 3.12 Battery BMS data feedback

Command

Node for sending

Node for receiving

Drive-by-wire chassis

Decision-making and control unit

Data length

0x08

Byte

Meaning

The feedback data of BMS

Period ms

Receive timeout (ms)

0x361

500ms

None

Data type

Note

27 / 38

byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] Command

Battery SOC
State of Charge

unsigned int8

Battery SOH (State of
Health)

unsigned int8

High order byte of battery voltage Low order byte of battery voltage

unsigned int16

High order byte of battery current Low order byte of battery current

signed int16

High order byte of battery temperature
Low order byte of battery temperature

signed int16

Range 0~100 Range 0~100 Unit: 0.01 V
Unit: 0.1 A
Unit: 0.1

Table 3.13 Battery BMS data feedback

The feedback data of BMS

Node for sending

Node for receiving

Drive-by-wire chassis

Decision-making and control unit

ID 0x362

Period ms

Receive timeout (ms)

500ms

None

28 / 38

Data length Byte

0x04 Meaning

Data type

byte [0]

Alarm Status 1

unsigned int8

byte [1]

Alarm Status 2

unsigned int8

byte [2]

Warning Status 1 unsigned int8

byte [3]

Warning Status 2 unsigned int8

Note
BIT1: Overvoltage; BIT2: Undervoltage; BIT3: High temperature; BIT4: Low temperature; BIT7: Discharge
overcurrent
BIT0: Charging overcurrent
BIT1: Overvoltage; BIT2: Undervoltage; BIT3: High temperature; BIT4: Low temperature; BIT7: Discharge
overcurrent
BIT0: Charging overcurrent

3.3.3
BUNKER
MINI
2.0 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 BUNKER MINI 2.0 mobile robot chassis X1
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AGILEX BUNKER MINI 2.0 supporting remote control FS-i6s X1 AGILEXBUNKER MINI 2.0 top aviation receptacle X1 Environment
description
of
usage
example Ubuntu 18.04 ROS Git
Hardware
connection
and
preparation
Pull out the CAN line of the BUNKER MINI 2.0 4-core aviation or rear 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 BUNKER MINI 2.0 mobile robot, and check whether the emergency stop switches on both sides are released;
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
For installation details, please refer to http://wiki.ros.org/kinetic/Installa-tion/Ubuntu

Test
CANABLE
hardware
and
CAN
communication
Set the CAN-TO-USB adapter Enable the gs_usb kernel module
sudo modprobe gs_usb Set baud rate to 500k and enable the CAN-TO-USB adapter

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sudo ip link set can0 up type can bitrate 500000

If there is no error in the previous steps, you can check the CAN devices with the command below

ifconfifig -a

Install and use can-utils to test hardware sudo apt install can-utils

If the CAN-TO-USB adapter has been connected to the TITAN and the TITAN has been powered on, the command below can be used to monitor the data from the TITAN.

candump can0

Please refer to: [1] https://github.com/agilexrobotics/agx_sdk [2] https://wiki.rdu.im/_pages/Notes/Embedded-System/-Linux/can-bus-in-linux.html

AGILEX
BUNKER
ROS
PACKAGE
Download
and
compile
Download ros dependencies
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard Clone and compile the bunker_ros source code
mkdir -p ~/catkin_ws/src

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cd ~/catkin_ws/src git clone https://github.com/agilexrobotics/ugv_sdk.git git clone https://github.com/agilexrobotics/bunker_ros.git cd .. catkin_make source devel/setup.bash
Reference https://github.com/agilexrobotics/bunker_ros

Start
the
ROS
node
Start the base node
roslaunch bunker_bringup bunker_robot_base.launch

Run the keyboard_control node roslaunch bunker_bringup bunker_teleop_keyboard.launch

Github ROS development package directory and usage instructions
*_base:: The core node for the chassis to send and receive hierarchical CAN messages. Based on the communication mechanism of ros, it can control the movement of the chassis and read the status of the bunker through the topic.
*_msgs: Define the specific message format of the chassis status feedback topic
*_bringup: startup files for chassis nodes and keyboard control nodes, and scripts to enable the usb_to_can module

4
Use
and
operation
In order to facilitate users to upgrade the firmware version of BUNKER MINI 2.0 and bring to customers more perfect experience, BUNKER MINI 2.0 provides the hardware interface for firmware upgrade and the corresponding client software.

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Upgrade
Preparation
Agilex CAN debugging module X 1 Micro USB cable X 1 BUNKER MINI chassis X 1 A computer (WINDOWS OS (Operating System)) X 1
Upgrade
Process
1.Plug in the USBTOCAN module on the computer, and then open the AgxCandoUpgradeToolV1.3_boxed.exe software (the sequence cannot be wrong, first open the software and then plug in the module, the device will not be recognized). 2.Click the Open Serial button, and then press the power button on the car body. If the connection is successful, the version information of the main control will be recognized, as shown in the figure.
3.Click the Load Firmware File button to load the firmware to be upgraded. If the loading is successful, the firmware information will be obtained, as shown in the figure
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4.Click the node to be upgraded in the node list box, and then click Start Upgrade Firmware to start upgrading the firmware. After the upgrade is successful, a pop-up box will prompt.
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5
Q&A
Q:
BUNKER
MINI
2.0 starts
normally,
but
the
vehicle
body
does
not
move
with
the
remote
control? A: First, determine whether the power switch is pressed and whether the emergency stop switch is released, and 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
BUNKER
MINI
2.0 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 BUNKER MINI 2.0 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 whether the command is switched to CAN control mode..
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Q:
When
the
relevant
communication
is
carried
out
through
the
CAN
bus,
and
the
chassis
feedback
command
is
normal,
why

does
the
car
do
not
respond
after
the
control
is
issued? A: BUNKER MINI 2.0 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.
6
Product
Dimensions
6.1 Illustrations
of
product
outline
dimensions
6.2
Illustrations
of
top
expansion
bracket
dimensions
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Documents / Resources

	AgileX 2023.09 Robotics Team [pdf] User Manual 2023.09 Robotics Team, 2023.09, Robotics Team, Team
	AgileX 2023.09 Robotics Team [pdf] User Manual 2023.09 Robotics Team, 2023.09, Robotics Team, Team

References

User Manual

2023.09 Robotics Team

Specifications

Product Usage Instructions

Safety Information

Environment

Inspection

Operation

FAQ

Q: What should I do if the device alarms for low battery?

Q: Can I exceed the maximum load capacity of 25KG?

Q: What is the operating temperature range of the BUNKER MINI
2.0?

Documents / Resources

References

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