松灵机器人 scout ros2 驱动 安装

必须使用 ubuntu22

必须使用 链接的humble版本

#打开can 口

 sudo modprobe gs_usb

 sudo ip link set can0 up type can bitrate 500000

 sudo ip link set can0 up type can bitrate 500000

 sudo apt install can-utils

candump can0

mkdir -p ~/ros2_ws/src
 cd ~/ros2_ws/src
git clone https://github.com/westonrobot/ugv_sdk.git
git clone https://github.com/westonrobot/scout_ros2.git
cd ..
colcon build

Launch ROS nodes

Start the base node for the Scout robot

ros2 launch scout_base scout_base.launch.py

Start the keyboard tele-op node

ros2 run teleop_twist_keyboard teleop_twist_keyboard

或者你直接下载我调整好的

我的github

git clone https://github.com/luogantt/scout_ros2_humble_lg

 cd scout_ros2_humble_lg
 colcon build

#打开can 口

 sudo modprobe gs_usb

 sudo ip link set can0 up type can bitrate 500000

 sudo ip link set can0 up type can bitrate 500000

 sudo apt install can-utils

candump can0

Launch ROS nodes

Start the base node for the Scout robot

ros2 launch scout_base scout_base.launch.py

Start the keyboard tele-op node

ros2 run teleop_twist_keyboard teleop_twist_keyboard