Before using the robot, ensure to read and understand all safety
information provided in the manual. Perform a risk assessment of
the complete robot system and connect necessary safety equipment.
Be aware that the robot does not have complete autonomous safety
functions.

Environment

Read the manual carefully before the first use to understand
basic operations and specifications. Choose an open area for remote
control as the vehicle lacks automatic obstacle avoidance sensors.
Operate in temperatures between -20°C to 60°C.

Check

Before operation, ensure all equipment is charged and in good
condition. Check for abnormalities in the vehicle and remote
control battery. Release the emergency stop switch before use.

Operation

Operate in open areas within line of sight. Do not exceed the
maximum load limit of 120KG. Ensure the center of mass is at the
center of rotation when installing extensions. Charge equipment
when voltage drops below 48V and stop using immediately if
abnormalities are detected.

FAQ

Q: What should I do if I encounter an abnormality while using
the BUNKER PRO?

A: Stop using the equipment immediately to avoid secondary
damage. Contact relevant technical personnel for assistance.

Q: Can the BUNKER PRO automatically avoid obstacles?

A: No, the vehicle itself does not have automatic obstacle
avoidance sensors. Operate in relatively open areas for remote
control.

“`

View Fullscreen

BUNKER
PRO
User
Manual

BUNKER
PRO AgileX Robotics Team User
Manual V.2.0.1

2023.09

Document
version

No. Version

Date

Edited by

Reviewer

Notes

V1.0.0 2023/3/17

first draft

V2.0.0 2023/09/02

Add rendering image Modify how to use ROS package
Document checking

1 / 35

V2.0.1 2023/09/018

Synchronized car parameter list Added table 3.2 Fault information
description table

This chapter contains important safety information, before the robot is powered on for the first time, any person or organization must read and understand this information before using the device. If you have any questions about use, please contact us at support@agilex.ai . Please followed 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.
Important
Safety
Information
The information in this manual does not include the design, installation and operation of a complete robot application, nor does it include all peripherals that may affect the safety of this 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. The integrators and end customers of BUNKERPRO have the responsibility to ensure compliance with relevant provisions and practical laws and regulations, and to ensure that there are no major hazards in the complete application of the robot. This includes but is not limited to the following:
Effectiveness
and
responsibility
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 peripherals, including
software and hardware systems, are correct.
2 / 35

This robot does not have the relevant safety functions of acomplete autonomous mobile robot, including but notlimited to automatic anti-collision, anti-falling, creature approach warning, etc. Relevant functions require integrators and end customers to conduct safety assessment in accordance with relevant provisions and applicable laws and regulations to ensure that the developed robot is free of any major hazards and hidden dangers in practical application.
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.
Environment
For the first use, please read this manual carefully to understand the basic operation content and operation specifications.
Choose a relatively open area for remote control, because the vehicle itself does not have any automatic obstacle avoidance sensors.
Use in an ambient temperature of -20-60. If the vehicle does not individually customize the IP protection level, its water-proof and dust-
proof capacity is IP66.
Check
Ensure that each equipment has enough charge. Ensure that the vehicle has no obvious abnormalities. Check if the battery of the remote control has enough charge. Make sure that the emergency stop switch has been released when using.
Operation
Ensure that the surrounding area is relatively open during operation. Remote control within the line of sight. The maximum load of BUNKERPRO is 120KG. When in use, ensure that the payload does not
exceed 120KG. When installing an external extension for BUNKERPRO, confirm the center of mass of the
extension and make sure it is at the center of rotation. When the equipment’s voltage is lower than 48V, please charge it in time. When the equipment is abnormal, please stop using it immediately to avoid secondary damage. When the equipment is abnormal, please contact the relevant technical personnel and do not
handle it without authorization.
3 / 35

Please use it in an environment that meets the requirements of the protection level according to the IP protection level of the equipment.
Do not push the vehicle directly. When charging, make sure that the ambient temperature is greater than 0°C.
Maintenance
Regularly check the tension of the suspended track, and tighten the track every 150~200H. After every 500 hours of operation, check the bolts and nuts of each part of the body. I Tighten
them immediately if they are loose. In order to ensure the storage capacity of the battery, the battery should be stored with charge,
and the battery should be charged regularly if it is not used for a long time.
Attention
This section contains some precautions for using and developing BUNKERPRO.
Battery
precautions
When BUNKERPRO leaves the factory, the battery is not fully charged. The specific battery power can be displayed through the voltage display meter on the BUNKERPRO chassis rear or read through the CAN bus communication interface;
Please do not charge the battery after its power is exhausted. Please charge it in time when the low voltage at the BUNKERPRO rear is lower than 48V;
Static storage conditions: The best temperature for battery storage is -10°C~45°C; in case of storage for no use, the battery must be recharged and discharged once about every 1 month, 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 adedicated lithium battery charger. Do not charge the battery below 0°C, and do not use batteries, power supplies, and chargers that are not standard.
Precautions
for
operational
environment
The operating temperature of BUNKERPRO is – 20~60; please do not use it in the environment where the temperature is lower than – 20 or higher than 60;
4 / 35

The relative humidity requirements of BUNKERPRO’s operational environment are: maximum 80%, minimum 30%; Please do not use it in an environment with corrosive and flammable gas or in an environment near flammable substances;
Do not store it around heating elements such as heaters or large coiled resistors; Except for the specially customized version (customized with IP protection level), BUNKER PRO
is not waterproof, so please do not use it in environments with rain, snow, or standing water; It is recommended that the altitude of the operational environment should not exceed 1000M; It is recommended that the temperature difference between day and night in the operational
environment should not exceed 25°C; Regularly inspect and maintain the track tension wheel.
Precautions
for
electrical
external
The current of the rear extension power supply should not exceed 10A, and the total power should not exceed 480W;
Safety
precautions
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 safety problem;
In case of emergencies, press down the emergency stop button and power off the equipment; Without technical support and permission, please do not personally modify the internal
equipment structure.
Other
precautions
Do not drop or put the vehicle upside down when carrying and setting up; For non-professionals, please do not disassemble the vehicle without permission.
CONTENTS
5 / 35

CONTENTS
Document
version
Important
Safety
Information
Attention
CONTENTS
1
Introduction
to
BUNKERPRO

1.1 Product list 1.2 Tech specifications 1.3 Requirement for development
2
The
Basics
2.1Instructions on electrical interfaces 2.2 Instructions on remote control 2.3 Instructions on control demands and movements
3
Use
and
Development
3.1 Use and operation 3.2 Charging 3.3.2 CAN cable connection 3.3.3 Realization of CAN command control 3.4 Firmware upgrade 3.5 BUNKERPRO ROS Package Use Example
4
Q&A
5
Product
Dimensions

5.1 Illustration diagram of product dimensions
6 / 35

5.2 Illustration diagram of top extended support dimensions

1
Introduction
to
BUNKERPRO
BUNKERPRO is a tracked chassis vehicle for all-round industry applications. It has the characteristics of simple and sensitive operation, large development space, suitable for development and application in a variety of fields, independent suspension system, heavy-duty shock absorption, strong climbing ability, and being able to climb stairs. It can be used for the development of special robots such as robots for inspection and exploration, rescue and EOD, special shooting, special transportation, etc., to solve robot movement solutions.

1.1
Product
list
Name BUNKER PRO Robot Body Battery Charger(AC 220V) Aviation male plug (4-Pin) FS remote control transmitter(Optional) USB to CAN communication module

Quantity x1 x1 x1 x1 x1

1.2
Tech
specifications

Parameter Types Mechanical specifications

Items L × W × H (mm)
Wheelbase (mm)

Values 1064*845*473
–

7 / 35

Front/rear wheel base (mm)

–

Chassis height

120

Track width

150

Curb weight (kg)

180

Battery Type

Lithium battery

Battery parameters

60AH

Power drive motor

2×1500W Brushless servo motor

Steering drive motor

–

Parking mode

–

Steering

Track type differential steering

Suspension form

Christie suspension + Matilda fourwheel balance suspension

Steering motor reduction

–

ratio

Steering motor encoder Drive motor reduction ratio

–
1 7.5

Drive motor sensor

Photoelectric increment 2500

Performance parameters

IP Grade

IP22

Maximum speed (km/h)

1.7m/s

Minimum turning radius (mm)

Can turn in place

Maximum gradeability (°)

30°

Maximum obstacle crossing

180

8 / 35

Control

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

740 8
15KM 4.5
-10~60 Remote control Control Command control mode 2.4G/extreme distance 200M
CAN

1.3
Requirement
for
development
BUNKERPRO is equipped with FS remote control at the factory, and users can control the BUNKERPRO mobile robot chassis through remote control to complete the movement and rotation operations; BUNKERPRO is equipped with CAN interface, and users can carry out secondary development through it.
2
The
Basics
This section will give a basic introduction to the BUNKERPRO mobile robot chassis, so that users and developers have a basic understanding of the BUNKERPRO chassis.
2.1Instructions
on
electrical
interfaces

9 / 35

The rear electrical interfaces are shown in Figure 2.1, where Q1 is the CAN and 48V power aviation interface, Q2 is the power switch, Q3 is the charging interface, Q4 is the antenna, Q5 and Q6 are respectively the driver debugging interface and the main control debugging interface (not open to the outside), and Q7 is the power display interaction.

Figure 2.1 Rear Electrical Interfaces The definition of Q1’s communication and power interface is shown in Figure 2-2.

Pin No. 1

Pin Type Power

Function and Definition

Remarks

VCC

Positive power supply, voltage range 46~54V, maximum current 10A

10 / 35

Power

CAN

GND CAN_H CAN_L

Negative power supply CAN bus high CAN bus low

Figure 2.2 Pin Definition of the Rear Aviation Extension Interface
2.2
Instructions
on
remote
control
Fs remote control is an optional accessory for BUNKER PRO products. Customers can choose according to actual needs. Using the remote control can easily control the BUNKER PRO universal robot chassis. In this product, we use the left-hand throttle design. Its definition and functions can be referred to Figure 2.3. The functions of the buttons are defined as: SWA, SWB, SWC, SWD. SWD is not activated yet, among them SWB is the control mode selection button, dialed to the top is the command control mode, dialed to the middle is the remote control mode, S1 is the throttle button, controls the BUNKER PRO to move forward and backward; S2 controls the rotation, and POWER is the power supply Buttons, press and hold them at the same time to turn on. It should be noted that when the remote control is turned on, SWA, SWB, SWC, and SWD all need to be at the top.

11 / 35

Figure 2.3 Schematic diagram of the 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 / 35

2.3
Instructions
on
control
demands
and
movements
We set up a coordinate reference system for ground mobile vehicle according to the ISO 8855 standard as shown in Figure 2.4.
Figure 2.4 Schematic Diagram of Reference Coordinate System for Vehicle Body As shown in Figure 2.4, the vehicle body of BUNKERPRO is parallel to the X axis of the established reference coordinate system. In the remote control mode, push the remote controller rocker S1 forward to move in the positive direction of X, push S1 backward to move in the negative direction of When pushed to the minimum value, the movement speed in the negative direction of the The car 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 counterclockwise rotation linear speed is the maximum. When S2 is pushed to the right to the maximum value, the clockwise rotation linear motion is the maximum speed. In the control command mode, the positive value of the linear speed means moving in the positive direction of the X-axis, and the negative value of the linear speed means moving in the negative direction of the The negative value of angular velocity means that the car body moves from the positive direction of the X-axis to the negative direction of the Y-axis.
3
Use
and
Development
This section mainly introduces the basic operation and use of the BUNKERPRO platform, and how to carry out the secondary development of the vehicle body through the external CAN interface and the CAN bus protocol.
13 / 35

3.1
Use
and
operation
Check
Check the condition of the vehicle body. Check if the vehicle body has obvious abnormalities; if so, please contact after-sales support;
When using for the first time, confirm whether Q2 (power switch) in the rear electrical panel is pressed; if it is not pressed, please press it and release it, then it is in the released state.
Startup
Press the power switch (Q2 in the electrical panel); under normal circumstances, the light of the power switch will light up, and the voltmeter will display the battery voltage normally;
Check the battery voltage. If the voltage is greater than 48V, it means the battery voltage is normal. If the voltage is lower than 48V, please charge; when the voltage is lower than 46V, BUNKERPRO cannot move normally.
Shutdown
Press the power switch to cut off the power;
Basic
operating
procedures
of
remote
control
After starting the BUNKERPRO robot chassis normally, start the remote control and select the remote control mode to control the movement of the BUNKER PRO platform through the remote control.
3.2
Charging
BUNKERPRO is equipped with a standard charger by default, which can meet the charging needs of customers. The
specific
operating
procedures
of
charging
are
as
follows: Make sure that the BUNKERPRO chassis is in a shutdown state. Before charging, please make
sure that Q2 (power switch) in the rear electrical console is turned off; insert the plug of the charger into the Q3 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 indicator of the charger.
3.3
Development
14 / 35

BUNKERPRO provides a CAN interface for the user’s development, and the user can control the vehicle body through this interface.
The CAN communication standard in BUNKERPRO adopts the CAN2.0B standard; the communication baud rate is 500K, and the message format adopts the MOTOROLA format. The linear velocity of the movement and the angular velocity of the rotation of the chassis can be controlled through the external CAN bus interface; BUNKERPRO will feedback the current movement status information and the status information of the BUNKERPRO chassis in real time.
The protocol includes system status feedback frame, movement control feedback frame, and control frame. The content of the protocol is as follows:
The system status feedback command includes the current vehicle body status feedback, control mode status feedback, battery voltage feedback, and fault feedback. The content of the protocol is shown in Table 3.1.
Table 3.1 Feedback Frame of BUNKERPRO Chassis System Status

Command Name

System status feedback instruction

Sending node Receiving node

Steer-by-wire chassis

Decision-making control unit

ID 0x211

Cycle (ms)

Receive timeout (ms)

200ms

None

Data length Position

0x08 Function

Data type

byte [0]

Current status of vehicle body

unsigned int8

Description
0x00 System in normal condition 0x01 Emergency stop mode 0x02 System exception

15 / 35

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

Mode control
The battery voltage is 8 bits higher The battery voltage is eight bits lower Reserved
Failure information Reserved
Count check (count)

unsigned int8
unsigned int16
unsigned int8
unsigned int8

0x00 Standby mode 0x01 CAN command control mode
0x03 Remote control mode
Actual voltage × 10 (with an accuracy of 0.1V)
0x0 Refer to [Description of Fault
Information] 0X00
0~255 cycle count; every time an instruction is sent,
the count will increase once

Table 3.2 Description of Fault Information

Description of Fault Information

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]

No.1 motor communication failure (0: No failure 1: Failure)

bit [4]

No.2 motor communication failure (0: No failure 1: Failure)

16 / 35

bit [5] bit [6] bit [7]

Reserved, default 0 Reserved, default 0 Reserved, default 0

The command of movement control feedback frame includes the feedback of current linear velocity and angular velocity of moving vehicle body. The specific protocol content is shown in Table 3.3.
Table 3.3 Movement Control Feedback Frame

Command Name

Movement Control Feedback Command

Sending node Receiving node

Cycle ms

Receive timeout (ms)

Steer-by-wire chassis

Decision-making control unit

0x221

20ms

None

Data length

0x08

Position

Function

Data type

Description

byte [0] byte [1]

8-bit high moving speed
8-bit low moving speed

signed int16

Actual speed × 1000 (with an accuracy of 0.001m/s)

byte [2] byte [3]

8-bit high rotation speed
8-bit low rotation speed

signed int16

Actual speed × 1000 (with an accuracy of 0.001rad/s)

byte [4]

Reserved

–

0x00

byte [5]

Reserved

–

0x00

17 / 35

byte [6]

Reserved

–

byte [7]

Reserved

–

0x00 0x00

The control frame includes linear velocity control opening, angular velocity control opening and check sum. The specific content of the protocol is shown in Table 3.4.
Table 3.4 Movement Control Frame

Command Name

Sending node Receiving node

Decision-making control unit

Chassis node

Data length

0x08

Position

Function

byte [0]

8-bit high linear speed

byte [1]

8-bit low linear speed

byte [2]

8-bit high angular velocity

byte [3]

8-bit low angular velocity

byte [4]

Reserved

byte [5]

Reserved

byte [6]

Reserved

byte [7]

Reserved

Control Instruction

Cycle (ms)

Receive timeout (ms)

0x111

20ms

None

Data type

Description

signed int16

Moving speed of vehicle body , unit: mm/s, range [-1700,1700]

signed int16

Angular velocity of vehicle body rotation, unit: 0.001rad/s, range
[- 3140,3140]

–

0x00

–

0x00

–

0x00

–

0x00

18 / 35

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

Command Name

Sending node Receiving node

Decision-making control unit

Chassis node

Data length

0x01

Position

Function

byte [0]

CAN control enable

Control Mode Setting Command

Cycle (ms)

Receive timeout (ms)

0x421

20ms

500ms

Data type unsigned int8

Description
0x00 Standby mode 0x01 CAN command mode enable

Note [1] Description of control mode
When the remote control of BUNKERPRO is not powered on, the control mode is standby mode by default, and you need to switch it to command mode to send movement control command. If the remote control is turned on, the remote control has the highest authority and can shield the control of commands. When the remote control is switched to the command mode, it still needs to send the control mode setting command before responding to the speed command.
The status setting frame is used to clear system errors. The specific protocol content is shown in Table 3.6.
Table 3.6 Status Setting Frame

Command Name

Sending node Receiving node

Decision-making control unit

Chassis node

Status Setting Command

Cycle (ms)

Receive timeout (ms)

0x441

None

19 / 35

Data length Position
byte [0]

0x01 Function

Data type

Error clearing command

unsigned int8

Description
0x00 clear all errors 0x01 Clear motor 1’s error 0x02 Clear motor 2’s error

Note 3: Sample data; the following data is for testing purposes only 1. The vehicle advances at a speed of 0.15/S

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

0x00

0x96

0x00

2. The vehicle rotates at 0.2RAD/S

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

0x00

0xc8

0x00

In addition to the chassis status information will be fed back, the chassis feedback information also includes motor data and sensor data.
Table 3.7 Motor Speed Current Position Information Feedback

Command Name

Motor Drive High Speed Information Feedback Frame

Sending node Receiving node

Steer-by- wire chassis

Decisionmaking
control unit

0x251~0x254

Cycle (ms)

Receive timeout (ms)

20ms

None

Data length

0x08

20 / 35

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

Function 8-bit high motor
speed 8-bit low motor
speed Reserved 8-bit low drive temperature Reserved Drive status Reserved Reserved

Data type
signed int16
unsigned int8 –

Description
Current motor speed Unit RPM
0x00 Unit 1
0x00 See Table 3.9 for details
0x00 0x00

Table 3.8 Motor Temperature, Voltage and Status Information Feedback

Command Name

Motor Drive Low Speed Information Feedback Frame

Sending node Receiving node

Cycle (ms)

Receive timeout (ms)

Steer-by- wire chassis

Decisionmaking
control unit

0x261~0x264

None

Data length

0x08

Position

Function

Data type

Description

byte [0]

Reserved

–

byte [1]

Reserved

–

Current motor speed Unit RPM

21 / 35

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

8-bit high drive temperature
8-bit low drive temperature
Reserved
Drive status
Reserved
Reserved

signed int16
unsigned int8
–

Table 3.9 Drive Status

Unit 1
0x00 See Table 3.9 for details
0x00 0x00

Byte byte [5]

Bit bit [0] bit [1] bit [2] bit [3] bit [4] bit [5] bit [6] bit [7]

Description Whether the power supply voltage is too low (0:Normal
1:Too low) Whether the motor is overheated (0: Normal 1:
Overheated) Reserved Reserved Reserved Reserved Reserved Reserved

Table 3.10 Odometer Feedback Frame

Command Name

Odometer Information Feedback Frame

22 / 35

Sending node Receiving node

Steer-by- wire chassis

Decisionmaking
control unit

Data length

0x08

Position

Function

byte [0]

Highest bit of left wheel odometer

byte [1]

Second-highest bit of left wheel
odometer

byte [2]

Second-lowest bit of left wheel
odometer

byte [3]

Lowest bit of left
wheel odometer

byte [4]

Highest bit of right wheel odometer

byte [5]

Second-highest bit of right
wheel odometer

byte [6]

Second-lowest bit of right
wheel odometer

0x311 Data type signed int32 signed int32

Cycle (ms)

Receive timeout (ms)

20ms

None

Description

Chassis left wheel odometer feedback Unit: mm

Chassis right wheel odometer feedback Unit: mm

23 / 35

byte [7]

Lowest bit of right wheel odometer
Table 3.11 Remote Control Information Feedback

Command Name

Remote Control Information Feedback Frame

Sending node Receiving node

Steer-by- wire chassis

Decisionmaking
control unit

ID 0x241

Cycle (ms)

Receive timeout (ms)

20ms

None

Data length Position

0x08 Function

Data type

byte [0]

Remote control SW feedback

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

byte [1] byte [2]

Right lever left and right
Right lever up and down

signed int8 signed int8

Range: [-100,100] Range: [-100,100]

byte [3]

Left lever up and down

signed int8

Range: [-100,100]

24 / 35

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

Left lever left and right
Left knob VRA
Reserved
Count check

signed int8
signed int8 –
unsigned int8

Range: [-100,100] Range: [-100,100] 0x00
0-255 cycle count

3.3.2
CAN
cable
connection
BUNKERPRO is shipped with a aviation plug male connector as shown in Figure 3.2. The definition of the cable: yellow is CANH, blue is CANL, red is power positive, and black is power negative.
Note:
In
the
current
BUNKERPRO
version,
the
external
extension
interface
is
only
open
to
the
rear
interface.
In
this
version,
the
power
supply
can
provide
a
maximum
current
of
10A.

Figure 3.2 Schematic Diagram of Aviation Plug Male Connector
3.3.3
Realization
of
CAN
command
control
25 / 35

Start the BUNKERPRO mobile robot chassis normally, turn on the FS remote control, and then switch the control mode to command control, that is, turn the SWB mode selection of the FS remote control to the top. At this time, the BUNKERPRO chassis will accept the command from the CAN interface, and the host can also analyze the current status of the chassis through the realtime data fed back by the CAN bus at the same time. Refer to CAN communication protocol for specific protocol content.
3.4
Firmware
upgrade
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.
Upgrade
Preparation
Agilex CAN debugging module X 1 Micro USB cable X 1 BUNKER PRO 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.
26 / 35

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
27 / 35

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.
28 / 35

3.5
BUNKERPRO
ROS
Package
Use
Example
ROS provides some standard operating system services, such as hardware abstraction, low-level equipment control, implementation of common functions, inter-process message and data packet management. ROS is based on a graph architecture, so that processes of different nodes can receive, release, and aggregate various information (such as sensing, control, status, planning, etc.). Currently ROS mainly supports UBUNTU.
Development
preparation
Hardware
preparation CANlight can communication module X1 Thinkpad E470 notebook X1 AGILEX BUNKERPRO mobile robot chassis X1 AGILEX BUNKERPRO supporting remote control FS-i6s X1 AGILEX BUNKERPRO top aviation socket X1 Use
example
environment
description Ubuntu 18.04 ROS Git
Hardware
connection
and
preparation
Lead out the CAN cable of the BUNKERPRO top aviation plug or the tail plug, and connect CAN_H and CAN_L in the CAN cable to the CAN_TO_USB adapter respectively;
Turn on the knob switch on the BUNKERPRO mobile robot chassis, and check whether the emergency stop switches on both sides are released;
Connect the CAN_TO_USB to the usb interface of the notebook. The connection diagram is shown in Figure 3.4.
Figure 3.4 Schematic Diagram of CAN CABLE Connection
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ROS
installation
and
environment
setting
For installation details, please refer to http://wiki.ros.org/kinetic/Installation/Ubuntu

Test
CANABLE
hardware
and
CAN
communication

Setting CAN-TO-USB adaptor 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

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 SCOUT 2.0 robot this time, and the car has been turned on, use the following commands to monitor the data from the SCOUT 2.0 chassis

candump can0

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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
BUNKERPRO
ROS
PACKAGE
download
and
compile
Download ros dependent package
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
Clone and compile bunker_ros source code
mkdir -p ~/catkin_ws/src 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 source: https://github.com/agilexrobotics/bunker_ros

Start
the
ROS
nodes
Start the base node
roslaunch bunker_bringup bunker_robot_base.launch Start the keyboard remote operation node
roslaunch bunker_bringup bunker_teleop_keyboard.launch

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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
Q&A
Q BUNKERPRO is started normally, but why does it not move when using the remote control to
control the vehicle body?
A First, confirm whether the power switch is pressed; and then, confirm whether the control
mode selected through the mode selection switch on the upper left side of the remote control is correct.
Q: The BUNKERPRO remote control is normal; the chassis status and movement information feedback is normal; but why can’t the vehicle body’s control mode be switched, and why does the chassis not respond to the control frame protocol when the control frame protocol is issued? A: Under normal circumstances, if BUNKERPRO can be controlled by the remote control, it means that the chassis movement control is normal; if it can receive the feedback frame of the chassis, it means that the CAN extension link is normal. Please check whether the command is switched to can control mode.
Q: When communicating through the CAN bus, the chassis feedback command is normal; but why does the vehicle not respond when issuing control? A: BUNKERPRO has a communication protection mechanism inside. The chassis has a timeout protection mechanism when processing CAN control commands from the outside. Suppose that after the vehicle receives a frame of communication protocol, but it does not receive the next frame of control command for more than 500MS, it will enter the communication protection, and its speed is 0. Therefore, the commands from the host computer must be issued periodically.
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5
Product
Dimensions
5.1
Illustration
diagram
of
product
dimensions
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5.2
Illustration
diagram
of
top
extended
support
dimensions
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Documents / Resources

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

References

User Manual

Hunter AgileX Robotics Team

Product Information

Specifications

Product Usage Instructions

Safety Information

Environment

Check

Operation

FAQ

Q: What should I do if I encounter an abnormality while using
the BUNKER PRO?

Q: Can the BUNKER PRO automatically avoid obstacles?

Documents / Resources

References

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