AGILEX Robotics Scout Mini Autonomous Mobile Base User Manual

User Manual for AGILEX Robotics models including: Scout Mini Autonomous Mobile Base, Mini Autonomous Mobile Base, Autonomous Mobile Base, Mobile Base, Base

Guide d'utilisation Scout Mini R&D Kit Pro

AgileX - R&D Kit Pro - Kit navigation autonome SLAM - Compatible ROS

File Info : application/pdf, 41 Pages, 34.08MB

user-guide-agilex-robotics-research-and-development-kit-fr

SCOUT MINI
Research and Development Kit and Pro
User Manual V.2.0.0 2021.04

This chapter contains important safety information, before the robot is powered on for the first time, any individual 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 follow 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.

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 peripheral equipment that may affect the safety of the 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. SCOUT MINI R&D kit integrators and end customers have the responsibility to ensure compliance with the applicable laws and regulations of relevant countries, and to ensure that there are no major dangers in the complete robot application. This includes but is not limited to the following:

1.Effectiveness and responsibility

2.Environmental Considerations

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 peripheral equipment, including software and hardware systems, are correct. This robot including but not limited to automatic anti-collision, anti-falling, biological approach warning and other related safety functions. Related functions require integrators and end customers to follow relevant regulations and feasible laws and regulations for safety assessment , To ensure that the developed robot does not have any major hazards and safety hazards in actual applications. 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.

For the first use,please read this manual carefully to understand the basic operating content and operating specification. Use SCOUT MINI R&D kit always under 0~40 ambient temperature.
3.Pre-work Checklist
Make sure each device has sufficient power. Make sure SCOUT MINI R&D kit does not have any obvious defects. Check if the remote controller battery has sufficient power. When using, make sure the emergency stop switch has been released.

4.Operation

In remote control operation, make sure the area around is relatively spacious. Carry out remote control within the range of visibility. When installing an external extension on SCOUT MINI R&D kit , confirm the position of the center of mass of the extension and make sure it is at the center of rotation. When SCOUT MINI R&D kit has a defect, please immediately stop using it to avoid secondary damage.

When SCOUT MINI R&D kit has had a defect, please contact the relevant technical to deal with it, do not handle the defect by yourself. Always use SCOUT MINI R&D kit in the environment with the protection level requires for the equipment. Do not push SCOUT MINI R&D kit directly. When charging, make sure the ambient temperature is above 0.

5.Maintenance
If the tire is severely worn or burst, please replace it in time. If the battery do not use for a long time, it need to charge the battery periodically in 2 to 3 months.

CONTENTS

0 Product Overview

1 3 Development Guide

3.1 ROS Development Introduction 11

1 Configuration list and Parameters 1 3.1.1 ROS History

1.1 SCOUT mini R&D kit Comparison 1 3.1.2 ROS Concept

1.2 Shipping List

1 3.1.3 ROS Node

1.2.1SCOUT MINI Lite

1 3.1.4 ROS Message

1.2.2SCOUT MINI Pro

2 3.1.4.1 ROS Topic

1.3 SCOUT MINI Introduction

3 3.1.4.2 ROS Service

1.3.1SCOUT MINI

3 3.1.4.3 ROS File System

1.3.2SCOUT MINI Instruction

3 3.2 Start up and shut down

1.3.2.1SCOUT MINI Checking

3 3.2.1 Installation

1.3.2.2 Remote Control

3 3.2.1.1 Tool

1.3.2.3 Remote Control Operation

4 3.2.1.2 Sensors holder and mobile base 12

1.3.2.4 SCOUT MINI Preparation

4 3.1.1.3 HD Display Installation

1.3.2.5 SCOUT MINI Shut down

4 3.2.2 Before start up

1.3.2.6 Remote Control Shut down

4 3.2.3 Mouse and keyboard

1.3.3 SCOUT MINI Parameters

5 3.2.4 Power on

1.4 Nvidia Jetson Nano

5 3.2.4.1 SCOUT MINI Lite

1.5 Nvidia Xavier

6 3.2.4.2 SCOUT MINI Pro

1.6Intel RealSense D435

7 3.2.5 Computing Unit Login

1.7 EAI-G4

7 3.2.6 Shut Down

1.8 Velodyne VLP-16

8 3.3 SCOUT mini R&D kit Development 17

Environment

2 Hardware Installation and Electricity 8 3.4 Remote Desktop

2.1.1 SCOUT MINI Lite

8 3.5 ROS Installation

2.1.2 SCOUT MINI Pro

9 3.6 Sensors base node

2.2 Electricity and Communication

9 3.7 Navigation and positioning based 24

Connection

on Gmapping open source architecture

2.2.1 SCOUT MINI Lite

2.2.2 SCOUT MINI Pro

2.3 Sensors expansion

0 Product Overview

SCOUT MINI R&D Kit

SCOUT MINI R&D Kit Pro

SCOUT MINI Research&Development Kit & Pro is an entry-level version and advanced set of ROS developers developed and customized by Agliex Robotics for ROS scientific research and education applications. Integrated with high-performance industrial control, high-precision LiDAR and multiple sensors based on the Agliex Robot ROS ecosystem, which is capable to achieve applications such as mobile robot motion control, communication, navigation, map building, etc. It provides with complete developer documentation and DEMO resources, lightweight and portable, highly technological industrial design, and exclusive sensor customized holder. The best experimental platform for rapid secondary development of ROS for multi-directional applications such as education and scientific research, product pre-research, subjects and product demonstration.

1 Configuration list and Parameters
1.1 SCOUT MINI R&D Kit & Pro Comparison

Version Mobile base Computing
Lidar Camera Communication

SCOUT MINI R&D Kit SCOUT MINI Off-road Nvidia Jetson Nano
EAI-G4 Intel RealSense D435
GL.iNet GL-AR750S

SCOUT MINI R&D Kit Pro SCOUT MINI Off-road Nvidia AGX Xavier VLP -16 Intel RealSense D435 GL.iNet GL-AR750S

1.2 Shipping List 1.2.1 SCOUT MINI R&D Kit

Name Computing Unit
Laser Sensor Vision Sensor
Router Mobile base Remote Control
Charger Voltage Stabilizer Voltage Stabilizer
HD Display USB To CAN
USB HUB

Quality 1 1 1 1 1 1 1 1 1 1 1 1

Model Nvidia Nano 4G
EAI-G4 Intel RealSense D435
GL.iNet GL-AR750S SCOUT MINI FS-I6S Agilex UY360 24V To12V 12V To 5V

Nvidia Jetson Nano

Intel RealSense D435

EAI G4

USB-HUB

Router

HD Display

USB To CAN

SCOUT MINI R&D Kit Configuration 1.2.2 SCOUT MINI R&D Kit Pro

SCOUT MINI

Name Computing Unit
Laser Sensor Vision Sensor
Router Mobile base Remote Control
Charger Voltage Stabilizer Voltage Stabilizer
HD Display USB To CAN
USB HUB

Quality 1 1 1 1 1 1 1 1 1 1 1 1

Model Nvidia AGX Xavier
VLP -16 Intel RealSense D435
GL.iNet GL-AR750S SCOUT MINI FS-I6S Agilex UY360 24V To 19 V 24V To 12V

Nvidia AGX Xavier

Intel RealSense D435

VLP 16

USB-HUB

Router

HD Display

USB To CAN

SCOUT MINI

SCOUT MINI R&D Kit Pro Configuration

1.3 SCOUT MINI Introduction
1.3.1 SCOUT MINI
The SCOUT MINI mobile chassis uses 4WD design with powerful off-road performance, compact design and truly "smart like a swallow, galloping like a heart". SCOUT MINI inherits the advantages of the SCOUT four-wheel differential chassis series with 4WD, independent suspension, no turning radius and has made innovations in the design of the hub motor. The minimum turning radius of the chassis is 0m, and the climbing angle is close to 30 degrees. SCOUT MINI is half 50 % smaller than SCOUT, while still having excellent off-road performance. At the same time, it has achieved a 10.8km/h high-speed, precise, stable and controllable power control system. The SCOUT MINI development platform has its own control system, supports standard CAN protocal and connected to various external devices. Furthermore, it supports ROS/Autoware secondary development and advanced robotics development. Accessories included standard activation plug, 24V@15Ah lithium battery and endurance mileage up to 10KM.

Figure 2.1 Rear View

Figure 2.1 Front View

1. Tire 2. Spring shock absorber 3. Extension support 4. Control interface area 5. Electrical bin panel 6. Tail light

7. Power capacity LCD 8. CAN extension interface 9. Power key 10. Charging interface 11. Font light 12. Front fence

1.3.2 SCOUT MINI Instruction 1.3.2.1 SCOUT MINI Checking
Press the power button of and wait for a few seconds Charge the battery if the SOC is less than 30% Please use the standard charger and power off the system while charging It takes about one and half hour to fully charged the battery
1.3.2.2 Remote Control
Check the remote control battery Put SWASWBSWCSWD all to up positions Hold the power button 1 and 2 at the same timeuntil turned on

1.3.2.3 Remote Control Operation
The remote control has preset switches default setting . Please do not change the switches setting. Any changing may cause control failure. SWB switch the control mode, the SWC is controlling the light on and off while SWD controls the speed mode, the left rocker controls the Scout mini move forward and backward while the right rocker controls the rotation. Please note that the internal mapping motion of the chassis is mapped based on percentage, so when the joysticks are at the same position,the speed is constant.
SWB control the control mode, top position is the command mode, remote control mode is the middle position, and the bottom position the constant speed mode. SWC is the light controlling button. When it is at the bottom position, it is closed, when it is in the middle, the light is open, and the top position is the breathing light mode. Please note that the lighting control option setting is only valid under the remote control mode, other modes are invalid. SWD is the speed gear selection mode, the up position is the low gear mode (the fastest speed is about 10km/h), and bottom position is the high gear (the fastest speed is about 20km/h). Please note that the gear setting button is only valid under the remote control mode, other modes are invalid.
1.3.2.4 SCOUT MINI Preparation
Please use SCOUT MINI in a relatively open area for the first time to avoid any inappropriate operation and damage. Press the SCOUT MINI power button and wait a few seconds; Set SWB to the middle position Try to switch the light mode manually to make sure that the mode is selected correctly Try to gently push the left joystick forward, you can see that the car is moving forward slowly Try to gently push the left joystick back, you can see that the car is moving backwards slowly Release the left joystick and the mobile base will stop Try to gently push the right joystick to the left, it can see that the car slowly rotates to the left Try to gently push the right joystick to the right, it can see that the car slowly rotates to the right Release the right joystick and the mobile base will stop Then may try to control the mobile base in the relatively open area and be familiar with the speed control of the vehicle
1.3.2.5 SCOUT MINI Shut down
Press SCOUT MINI power button and then release
1.3.2.6 Remote Control Shut down
Hold the power button 1 and 2 at the same time for few seconds until turned off
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1.3.3 SCOUT MINI Parameters

SCOUT MINI Parameters Description

Size

627mm 550mm 252mm

Wheelbase

452mm

Wheelbase

450mm

Weight

20kg

Minimum Ground Clearance

107mm

Standard Load

10kg(0.5 Coefficient of friction)

Maximum Speed

10.8km/h

Minimum Turning Radius

0(Self-turning)

Maximum Slope

30°(with load)

Obstacle Surmounting

70mm

Maximum mileage

10km(without load)

Drive mode

4WD

Temperature

-20~60

Charger

AC 220

Charging time

1.5H

Voltage Output

24V

Battery

24V/15Ah

Code Wheel

1024 Photoelectric Incremental

Communication interface

Standard CAN

IP protection

IP22(IP64 for customization)

Suspension

Independent swing arm suspension

1.4 Nvidia Jetson Nano
Nvidia Jetson Nano is a powerful and compact computer which designed to support entry-level AI applications and devices. It contains multiple acceleration libraries for deep learning, computer vision, graphics and multimedia based on the comprehensive NVIDIA JetPackTM SDK. It is installed on the SCOUT MINI R&D Kit version and can be used to expand the applications of robot navigation and positioning, image processing, voice recognition and various other technologies.

GPU CPU Memory Storage Encoder Decoder Camera Internet Display USB Extension Interface

128-Core Maxwell Quad-core ARM57 @1.43Ghz 4GB 64Bit LPDDR4 25.6GB/s
Micro SDdefault 4K@30| 4 X 1080p@30 | 9 X 720p@30(H.264/H.265) 4K@60| 2X 4K@30 | 8X 1080p@30 | 18 X 720p@30(H.264/H.265)
2 X MIPI CSI-2 DPHY lanes Gigabit EthernetM.2 Key E interface
HDMI X 1, DP X 1 4 X USB 3.0, USB 2.0 Micro-B
GPIOI2CI2SSPIUART

1.5 Nvidia Xavier

The NVIDIA Jetson AGX XAVIER Developer Kit is capable to run modern AI workloads and solve problems in optical inspection, manufacturing, robotics, logistics, retail, service, agriculture, smart cities, and healthcare. Plus, it delivers up to 32 TOPS and can operate in as little as 10 W. Jetson AGX Xavier Developer Kit is supported by NVIDIA JetPack, which includes a board support package (BSP), Linux OS, NVIDIA CUDA, cuDNN, and TensorRT software libraries for deep learning, computer vision, GPU computing, multimedia processing, and much more. It's also supported by the NVIDIA DeepStream SDK, which delivers a complete toolkit for real-time situational awareness through intelligent video analytics (IVA) and NVIDIA Isaac SDK, which delivers a software toolkit for robot development. These helps boost performance and accelerate software development, while reducing development cost and effort.

Development Kit Technical Parameters

GPU

Tensor Core 512 -Volta GPU

CPU

8-Codes ARM v8.2 64 CPU8 MB L2 + 4 MB L3

Memory

32 GB 256-bit LPDDR4x | 137 GB/sec

Storage

32 GB eMMC 5.1

PCIe X16

X8 PCIe Gen4/x8 SLVS-EC

RJ45

Gigabit Ethernet

USB-C
Camera Connector M.2 Key M M.2 Key E
40-Pin Header HD Audio Header eSTATp + USB 3.0 Type A
HDMI Type A µSD/UFS

2 * USB 3.1 interfacesDP interfaceoptionalPD interfaceoptional Close-System Debug and Flashing Support on 1 Port (16*) CSI-2 Lanes NVMe
PCIe x1 + USB 2.0 + UART (for Wi-Fi/LTE) / I2S + DMIC + GPIOs UART + SPI + CAN + I2 C + I2 S + DMIC + GPIOs High-Definition Audio
SATA Through PCIe x1 Bridge (PD + Data for 2.5-inch SATA) + USB 3.0 HDMI 2.0 SD/UFS

1.6 Intel RealSense D435
The Intel® RealSenseTM depth camera D435 is a stereo solution, offering quality depth for a variety of applications. It's wide field of view is perfect for applications such as robotics or augmented and virtual reality, where seeing as much of the scene as possible is vitally important. With a range up to 10m, this small form factor camera can be integrated into any solution with ease, and comes complete with our Intel RealSense SDK 2.0 and cross-platform support.

Features
Depth Camera RGB
Others

Item Use Environment
Range Image sensor technology
IMU Support Depth Technology
FOV Minimum Depth Distance Depth Output Resolution Maximum Measurement Distance
Depth Frame Rate RGB Frame Resolution
FOV RGB Frame Rate
Size Interface Type

Intel Realsense D435 Indoor/Outdoor
Approximately 10m Global Shutter, 3um X 3um pixel size
N/A Active IR Stereo 86° x 57° ±3°
0.105m 1280 x 720 Approximately 10m
90 fps 1280 x 800 69.4° × 42.5° ±3°
30fps 90mm x 25mm x 25mm
USB-C 3.1

1.7 EAI-G4
YDLIDAR G4 is a 360-degree two-dimensional rangefinder (hereinafter referred to as G4) developed by YDLIDAR team. Based on the principle of triangulation, it is equipped with related optics,electricity, and algorithm design to achieve high-frequency and high-precision distance measurement. The mechanical structure rotates 360 degrees to continuously output the angle information as well as the point cloud data of the scanning environment while ranging.

1.8 Velodyne VLP-16
Velodyne VLP-16 is the smallest, cost-optimized product in Velodyne's 3D LiDAR product range. Developed with mass production in mind, the VLP-16 is far more cost-effective than comparable sensors, and it retains the key features of Velodyne's breakthroughs in LiDAR:Real-time, 360°, 3D distance and calibrated reflectivity measurements. The VLP-16 has a range of 100 m, and the sensor's low power consumption, light weight, compact footprint and dual return capability make it ideal not only for autonomous vehicles but also for robotics, terrestrial 3D mapping and many other applications.
7

Item Measurement Range
Range Accuracy Scanning speed Field of View(Vertical) Angular Resolution(Vertical) Rotational Rate Laser Product Classification
Weight Power consumption
Operating Voltage Operating Temperature

Parameters 100m ±3cm
Single way 300,000 points/s Round way 600,000 points/s -15°~15° 2° 5Hz~20Hz Class 1 830g 8W 9V~18V
-10~60

2 Hardware Installation and Electricity
2.1 SCOUT MINI R&D Kit & Pro Kit Installation 2.1.1 SCOUT MINI R&D Kit
The overall design of the SCOUT MINI R&D Kit research and education kit uses the stacking design and the frame is made of sheet metal, a high-definition display screen is installed at the rear part which is convenient for customers to develop and debug. A hollow sheet metal holder is used at the bottom to assemble with the standard aluminum holder of the SCOUT MINI above. The USB -HUB with independent power supply is located at the second layer along with USB to CAN module and G4 lidar. The third layer is mainly composed of computing units and voltage stabilizing modules and the top layer is currently mainly installed with Intel RealSense D435 . Please refer to the following figure for detail.

2.1.2 SCOUT MINI R&D Kit Pro
The SCOUT MINI R&D Kit share the same basic design with SCOUT MINI R&D Kit, the difference between each other are the sensors location. The computing unit Nvida AGX Xavier is at the bottom of the holder, the USB-HUB with independent power supply is located at the second layer along with USB to CAN module and Intel RealSense D435 . The third layer is mainly composed of lidar adapter and voltage stabilizing modules, while the top layer is currently mainly installed with VLP 16 lidar . Please refer to the following figure for detail.
2.2 Electricity and Communication Connection 2.2.1 SCOUT MINI R&D Kit
SCOUT MINI R&D Kit provides power and communication interfaces for devices and sensors through the aviation expansion interface of the chassis. The SCOUT MINI chassis power expansion interface (maximum power output supports 24V@5A) is powered by the chassis'battery, without a voltage regulator and voltage regulation module. In order to provide power supply to devices and sensors, the voltage regulator and stabilizer is essential. We chose a 12V@20A voltage stabilizer module. The voltage stabilizer mainly provides power input for 5V voltage stabilizer modules, wireless routers, and USB-HUB. The 5@10A voltage stabilizer module provide power input for EAI-G4 laser Radar and Nvidia Jetson Nano.
The following figure is the external connection of Nvidia Jetson Nano. Nano's network port is connected to the router's network port which is designed for remote desktop control to access and debug, also it is easy to expand other network devices. For the USB expansion, we add a USB-HUB (with additional power supply) to improve the devices expansion capacity. USB-HUB mainly connect with EAI-G4 lidar, Intel RealSenseD435,HD display, etc.
9

2.2.2 SCOUT MINI R&D Kit Pro
The following figure is the external connection of Nvidia Jetson Nano. Nano's network port is connected to the router's network port which is designed for remote desktop control to access and debug, also it is easy to expand other network devices. For the USB expansion, we add a USB-HUB (with additional power supply) to improve the devices expansion capacity. USB-HUB mainly connect with EAI-G4 lidar, Intel RealSenseD435,HD display, etc.
The following figure is the external connection of Nvidia Jetson Nano. Nano's network port is connected to the router's network port which is designed for remote desktop control to access and debug, also it is easy to expand other network devices. For the USB expansion, we add a USB-HUB (with additional power supply) to improve the devices expansion capacity. USB-HUB mainly connect with Intel RealSenseD435,HD display, etc.
2.3 Sensors expansion
External expansion mainly involves mechanical installation expansion, power supply expansion, and communication expansion. For the power supply expansion, we took this issue into consideration when selecting the power supply voltage regulator in the early stage, so the power supply voltage regulator module has a certain margin. For communication expansion, USB - HUB and wireless gateway are added to the equipment. So it is capable to access more devices.
10

3 Development Guide
3.1 ROS Development Introduction
3.1.1 ROS History
Robot Operating System (ROS or ros) is an open source robotics middleware suite. Although ROS is not an operating system but a collection of software frameworks for robot software development, it provides services designed for a heterogeneous computer cluster such as hardware abstraction, low-level device control, implementation of commonly used functionality, message-passing between processes, and package management. Running sets of ROS-based processes are represented in a graph architecture where processing takes place in nodes that may receive, post and multiplex sensor data, control, state, planning, actuator, and other messages. Despite the importance of reactivity and low latency in robot control, ROS itself is not a real-time OS (RTOS). It is possible, however, to integrate ROS with real-time code. The lack of support for real-time systems has been addressed in the creation of ROS 2.0,a major revision of the ROS API which will take advantage of modern libraries and technologies for core ROS functionality and add support for real-time code and embedded hardware.
3.1.2 ROS Concept
ROS has three levels of concepts: the Filesystem level, the Computation Graph level, and the Community level. These levels and concepts are summarized below and later sections go into each of these in greater detail.
3.1.3 ROS Node
A node represents a single process running the ROS graph. Every node has a name, which it registers with the ROS master before it can take any other actions. Multiple nodes with different names can exist under different namespaces, or a node can be defined as anonymous, in which case it will randomly generate an additional identifier to add to its given name. Nodes are at the center of ROS programming, as most ROS client code is in the form of a ROS node which takes actions based on information received from other nodes, sends information to other nodes, or sends and receives requests for actions to and from other nodes.
_ _
_ __ _
3.1.4 ROS Message
ROS processes are represented as nodes in a graph structure, connected by edges called topics. ROS nodes can pass messages to one another through topics, make service calls to other nodes, provide a service for other nodes, or set or retrieve shared data from a communal database called the parameter server. A process called the ROS Master[66] makes all of this possible by registering nodes to itself, setting up node-to-node communication for topics, and controlling parameter server updates. Messages and service calls do not pass through the master, rather the master sets up peer-to-peer communication between all node processes after they register themselves with the master. This decentralized architecture lends itself well to robots, which often consist of a subset of networked computer hardware, and may communicate with off-board computers for heavy computation or commands.
3.1.4.1 ROS Topic
Topics are named buses over which nodes send and receive messages. Topic names must be unique within their namespace as well. To send messages to a topic, a node must publish to said topic, while to receive messages it must subscribe. The publish/subscribe model is anonymous: no node knows which nodes are sending or receiving on a topic, only that it is sending/receiving on that topic. The types of messages passed on a topic vary widely and can be user-defined. The content of these messages can be sensor data, motor control commands, state information, actuator commands, or anything else.
11

3.1.4.2 ROS Service
A node may also advertise services. A service represents an action that a node can take which will have a single result. As such, services are often used for actions which have a defined beginning and end, such as capturing a single-frame image, rather than processing velocity commands to a wheel motor or odometer data from a wheel encoder. Nodes advertise services and call services from one another.
3.1.4.3 ROS File System
Similar to an operating system, ROS files are also organized on the hard disk in a particular fashion. PackageThe ROS packages are the most basic unit of the ROS software. It contains the ROS runtime process (nodes), libraries, configuration files, and so on, which are organized together as a single unit. Packages are the atomic build item and release item in the ROS software. Package ManifestThe package manifest file is inside a package that contains information about the package, author, license, dependencies, compilation flags, and so on. The package.xml file inside the ROS package is the manifest file of that package. Meta PackageThe term meta package is used for a group of packages for a special purpose. In an older version of ROS such as Electric and Fuerte, it was called stacks, but later it was removed, as simplicity and meta packages came to existence. One of the examples of a meta package is the ROS navigation stack.
3.2 Start up and shut down 3.2.1 Installation 3.2.1.1 Tool
Hexagon key
3.2.1.2 Sensors holder and mobile base
SCOUT MINI R&D Kit
When the product is ready for shipping, the sensor holder is separated from the Scout MINI. User need to use tool to set the sensor holder on the Scout MINI. Firstly, put the four slider nuts into the slide way each side on the Scout MINI , and then use the hexagonal tool to screw corresponding four screws on the holder to the platform. Please refer to the figure shown below.
12

SCOUT MINI R&D Kit Pro
When the product is ready for shipping, the sensor holder is separated from the Scout MINI. User need to use tool to set the sensor holder on the Scout MINI. Firstly, put the four slider nuts into the slide way each side on the Scout MINI , and then use the hexagonal tool to screw corresponding four screws on the holder to the platform. Please refer to the figure shown below.
3.1.1.3 HD Display Installation
SCOUT MINI R&D Kit
Put the HD display into the display holder horizontally, as shown in the figure below. Then settle the display holder with screws and nylon posts to the holes on both sides..
13

SCOUT MINI R&D Kit Pro
Put the HD display into the display holder horizontally, as shown in the figure below. Then settle the display holder with screws and nylon posts to the holes on both sides.
3.2.2 Before start up
Check whether any wiring harness connections are disconnected; Please make sure to operate in a relatively open area without large area of water . The environment is relatively open and stable, there are no flammable, explosive and other dangerous goods around The whole machine is complete, the wiring harness is intact and there is no break, and the sensors are not damaged.
3.2.3 Mouse and keyboard
This Kit is not provided with mouse and keyboard, users can purchase it based on requirement, and can be connected with the USB interface of the computing unit or the USB HUB.
3.2.4 Power on 3.2.4.1 SCOUT MINI R&D Kit
Press the power button on the Scout MINI, as shown in the figure below.
14

3.2.4.2 SCOUT MINI R&D Kit Pro
Press the power button on the Scout MINI, as shown in the figure below.
3.2.5 Computing Unit Login
After pressing the power button of the Scout MINI , the computing unit will automatically log in and show the following interface, the root authority password and system login password are agx
3.2.6 Shut Down
If you need to shut down he system, do not press the power button directly because thel computing unit is running. Enter the command $poweroff in the terminal or click shut down of the drop-down menu, as shown in the figure below, wait until the display shows no signal input, then press the power button to shut down the system. 15

3.2.6 Shut Down
If you need to shut down he system, do not press the power button directly because thel computing unit is running. Enter the command $poweroff in the terminal or click shut down of the drop-down menu, as shown in the figure below, wait until the display shows no signal input, then press the power button to shut down the system.
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3.3 SCOUT MINI R&D Kit & Pro Development Environment

UbuntuROSGazeboRVIZ
Ubuntu ROS
Gazebo RVIZ

16.04 kinetic
7.0 -

Ubuntu ROS
Gazebo RVIZ

18.04 melodic
9.0 -

3.4 Remote Desktop
3.4.1 Download the corresponding operating system remote desktop software on the host computer
Open the wireless network settings of the host computer, it shows that there are two signals from the router GL-AR750 (respectively), please connect to the 5G frequency band, the default password is goodlife

3.4.2 Xavier or Nano Connection(make sure the computer unit is power on)
3.4.2.1 Choose connection object

3.4.2.2 Click Yes 3.4.2.3 Usernameagilex Passwordagx choose save password 3.4.2.4 keep clicking OK
18

3.4.2.5 Enter default password agx 3.4.2.6 Connection successful
19

3.4.3.1 Enter the router, the default address is 192.168.8.1 select the language and set the password 3.4.3.2 Click USE as LAN port
20

3.4.3.3 Successfully set to LAN port mode, now you can connect the Kit with the host computer through a network cable for access
3.5 ROS Installation Install Source
sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
Or the source from China
sudo sh -c '. /etc/lsb-release && echo "deb http://mirrors.ustc.edu.cn/ros/ubuntu/ $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/ros-latest.list'
Set key
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
Update
sudo apt-get update
ROS Desktop-Full Ubuntu16.04
sudo apt-get install ros-kinetic-desktop-full
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Ubuntu18.04
sudo apt-get install ros-melodic-desktop-full
Dependency
sudo rosdep in rosdep update
Environment set up Ubuntu16.04
echo "source /opt/ros/kinetic/setup.bash" >> ~/.bashrc source ~/.bashrc
Ubuntu18.04
echo "source /opt/ros/melodic/setup.bash" >> ~/.bashrc source ~/.bashrc
Install rosinstall
sudo apt install python-rosinstall python-rosinstall-generator python-wstool build-essential
3.6 Sensors base node 3.6.1 USB To CAN Drive installation and testing Enable gs _usb
sudo modprobe gs_usb
Open CAN port and set the baud rate
sudo ip link set can0 up type can bitrate 500000
Check CAN
ifconfig -a
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Testing the hardware by using can-utils
sudo apt install can-utils
Command testing
# receiving data from can0 $ candump can0 # send data to can0 $ cansend can0 001#1122334455667788
3.6.2 SCOUT MINI ROS Package
scout_bringup: Start up the mobile base node. scout_base: Control and monitor package based on ugv_sdk scout_description: scout_min URDF model, available for simulation of customized robots equipped with sensors scout_msgs:scout_mini message format definition
3.6.3 RealSense D435 node ROS Package and RVIZ visualization
realsense2_camera: Set up and start the depth camera function package, and you can use the rviz visualization tool to view color maps, depth maps, dense point clouds, etc.
Get the rgb
roslaunch realsense2_camera rs_camera.launch
Enter rviz in the terminal to open rviz tool, click the add to add image component
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Fixed frame choose camera_link Fills in the corresponding topic in image component to get the rgb picture
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Get the rgb+Depth map
roslaunch realsense2_camera rs_camera.launch Open rviz, click the add to add DepthCloud component
Fixed frame choose camera_link, choose the corresponding topic in the Depth Map topic. The depth map in shown below.
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3.6.4 EAI -G4 ROS Package
ydlidar_ros: Start the EAI-G4 single-line lidar function package, and users can set some parameters of the radar according to specific application scenarios. Show the scan result of the lidar
cd ydlidar/launch roslaunch ydlidar lidar_view.launch
Start lidar, publish base_link-><laser_link> coordinate transfer roslaunch scout_bringup open_rslidar.launch
3.6.5 VLP -16 ROS Package
velodyne_driver: Processing raw point cloud data and laser data function package velodyne_laserscan: base on velodyne_driver packageCompress point cloud datasend /scan data velodyne_pointcloud: Start all the nodes of the VLP_16 lidar and start publishing various data. velodyne_msgs: Define various data formats of VLP_16 lidar
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Start lidar, publish base_link-><laser_link> coordinate transfer roslaunch scout_bringup open_rslidar.launch
3.7 Navigation and positioning based on Gmapping open source architecture 3.7.1 2D Lidar 3.7.1.1 Navigation algorithm
Move_base is the core algorithm of robot navigation path planning. It subscribes to the positioning data of lidar /scan, map, /odom mileage and amcl, and then uses the path planning plugin integrated into move_base. The global path planning plugin includes:
navfn: The older code version in ROS implements the dijkstra and A* global planning algorithms. global_planner: Reimplemented Dijkstra and A* global planning algorithm, the improved version of navfn. parrot_planner: A simple algorithm to achieve global path planning algorithm. Partial path planning plugins include base_local_planner: Implemented two local planning algorithms, Trajectory Rollout and DWA. dwa_local_planner: The DWA local planning algorithm is implemented which can be regarded as an improved version of base_local_planner.
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3.7.1.2 2D Lidar map building
ROS SLAM Algorithm gmappingLidar/scan data and odometer/odom data are required, using PF (Particle Filter). hector Based on the optimized algorithm (solving the least squares problem), the advantages and disadvantages: no odometer is required, but the radar frame rate requires a very high rate at 40Hz, and the estimated 6-degree-of-freedom pose can adapt to the situation of uneven air or ground. Initial value has a great influence on the result, so the radar frame rate is required to be higher. CartographerThe cumulative error is lower than the previous two algorithms, and it can naturally output the covariance matrix and the input term optimized by the back-end. Lower-cost radars can also have high performance. Combining these several slam algorithms, the kit uses gmapping algorithm to create slam maps. The slam_gmapping node receives the sensor_msgs/LaserScan message and builds a map (nav_msgs/OccupancyGrid). The map can be viewed through ROS topic or service.

Gmapping topics and service

Topics subscribe

Name tf
scan

Type tfMessage sensor_msgs/LaserScan

Description
coordinate system, datum and distance measurement related
frame conversion
Lidar scanning data

Topic publish Service

map_metadata map
entropy dynamic_map

nav_msgs / MapMetaData

Publish Meta data

nav_msgs / OccupancyGrid

Publish map raster data

std_msgs / Float64

Publish the estimation of robot pose distribution entropy

nav_msgs / GetMap

Call this service to get map data

Gmapping Coordinate transformation TF transformation base_link-><laser_link>

Necessary TF transformation

odom->base_link

Necessary TF transformation

map->odom

Description
Direct conversion between chassis coordinate system and lidar coordinate system
The transformation between the mileage coordinate system and the chassis
coordinate system, generally issued by the odometer
The transformation between the map coordinate system and the odometer coordinate system to estimate the pose
of the robot in the map

3.7.1.3 2D Autonomous Navigation
SLAM Mapping 1Start the lidar and publish the coordinate transformation of base_link-><laser_link>
roslaunch scout_bringup open_rslidar.launch 2Start gmapping mapping node
roslaunch scout_bringup gmapping.launch 3Use the remote control to control the Kit to move around the scene. After building the map, save the map to the specified directory (usually /description)
rosrun map_server map_saver f ~/catkin_ws/scout _base/scout_description/maps/map Autonomous Navigation 1Start the lidar and publish the coordinate transformation of base_link-><laser_link>
roslaunch scout_bringup open_rslidar.launch 2Start move_base navigation
roslaunch scout_bringup navigation.launch Note: If you need to choose different map, please open the navigation.launch file to modify the parameters which is marked with red line as shown in the figure below.
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3Regulate the actual position of the robot on the map displayed in rviz, and regulate the chassis rotation by publishing an approximate position with the handle. When the laser shape overlaps with the scene shape in the map, the regulation is complete.
After setting the positioning, the laser shape and the scene shape in the map have basically overlapped, the means the regulation is complete. As the picture shown below.
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4Set multiple target points on the multi-point navigation plug-in in the left column, click Start Navigation, and switch the SWB to command control mode. The target point is generated, as the picture shown below.
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Click to start navigation, the map has generated a path (in green), and it will automatically navigate to the target point
3.7.2 3D Lidar 3.7.2.1 3D Lidar map building
Take the VLP-16 radar as an example. The VLP-16 radar is a 16-line lidar. In 2° increments, 16° up and down respectively. Since the VLP directly outputs point cloud data, 16 lines of laser data are included. Gmapping mapping requires only one line of data, so point cloud data must be compressed. For this time, you can use the ros package provided by VLP to compress the point cloud data and output /scan. You can also use the pointcloud_to_laserscan package we provide to compress point cloud data. Since the 3D lidar has a sweep angle, the sweep blind area of the 3D radar will be less than that of the 2D radar. After obtaining the scan data, you can transfer the data to gmapping, and then provide a relatively reliable odometer information and correct coordinate system transformation and gmapping can be created.
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3.7.2.2 3D Lidar Autonomous Navigation
SLAM Mapping 1Start the lidar and publish the coordinate transformation of base_link-><laser_link>
roslaunch scout_bringup open_rslidar.launch
2Start gmapping mapping node roslaunch scout_bringup gmapping.launch
Note: If you need to choose different map, please open the navigation.launch file to modify the parameters which is marked with red line as shown in the figure below.
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3Use the remote control to control the Kit to move around the scene. After building the map, save the map to the specified directory (usually /description)
rosrun map_server map_saver f ~/catkin_ws/scout _base/scout_description/maps/map Autonomous Navigation 1Start the lidar and publish the coordinate transformation of base_link-><laser_link>
roslaunch scout_bringup open_rslidar.launch 2Start move_base navigation
roslaunch scout_bringup navigation.launch 4Regulate the actual position of the robot on the map displayed in rviz, and regulate the chassis rotation by publishing an approximate position with the handle. When the laser shape overlaps with the scene shape in the map, the regulation is complete.
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After setting the positioning, the laser shape and the scene shape in the map have basically overlapped, the means the regulation is complete. As the picture shown below.
4Set multiple target points on the multi-point navigation plug-in in the left column, click Start Navigation, and switch the SWB to command control mode.
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The target point is generated, as the picture shown below. Click to start navigation, the map has generated a path (in green), and it will automatically navigate to the target point.
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References

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