软件手册

Galaxea B1 Software Guide

Software Dependency

Ubuntu 20.04 LTS
ROS Noetic

Installation

The SDK does not require recompilation. Please refer to the contents below.

CAN Connection Tutorial

Important: To ensure the USB-to-CAN Adapter works properly on Linux, please install the driver file that matches your system’s kernel version; otherwise, it may cause errors.

1. Launch the Driver

Use the following command to check the current kernel version:

name -r

The driver file name usually includes the version information. If you need drivers for other kernel versions, please contact us for assistance.

Driver File
5.15.0-67-generic: 5.15.0_67.ko
5.15.0-101-generic: 5.15.0_101.ko
5.15.0-102-generic: 5.15.0_102.ko

Use the following command to load the kernel module:

sudo insmod /usr/lib/modules/$(uname -r)/kernel/drivers/net/can/dev/can-dev.ko
sudo insmod 5.15.0_101.ko

2. Set 1M Baud Rate

Use the following command to set the CAN interface baud rate to 1 Mbps:

sudo ip link set can0 type can bitrate 1000000

3. Open the CAN Interface

Use the following command to bring up the CAN interface:

sudo ip link set up can0

If no errors occurred in the previous steps, use the following commands to check the CAN interface's configuration and status:

sudo apt-get install net-tools
ifconfig can0

4. Install Driver Dependencies

Use the following command to install the necessary dependencies for the driver:

 sudo apt-get install ros-noetic-socketcan-interface ros-noetic-can-msgs

5. Install and Use can_utils

Use the following commands to install the tool and monitor data from Galaxea B1 in real-time, provided that:

B1 is already running, and
The CAN-to-USB Adapter is properly connected.
Make sure to switch the joystick controller SWB to the bottom and SWC to the middle. Otherwise, candump can0 cwill be unable to access the CAN data, and the upper computer will not be able to control the chassis.

sudo apt-get install can_utils
candump can0

First Move

Launch the Chassis Node

source install/setup.bash
roslaunch signal_chassis r1.launch

Control the Chassis

rostopic pub /control_command signal_chassis/ControlCommand "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
motion_mode: 0
x: 0.5
y: 0.0
w: 0.0"

Software Interface

Driver Interface

This interface is used for the chassis status feedback ROS package. The package defines multiple topics for posting the status of multiple motors in the chassis. The following are detailed descriptions of each topic and its related message types:

Topic Name	Description	Message Type
/hdas/motor_state	Chassis motion state feedback	chassis_msg/DrivetrainStamped

Topic Name	Field	Description
/hdas/motor_state	.steering_angle_fl	Front-wheel left-wheel steering angle degrees
	.steering_angle_fr	Front-wheel right-wheel steering angle degrees
	.steering_angle_rl	Rear-wheel left-wheel steering angle degrees
	.steering_angle_rr	Rear-wheel right-wheel steering angle degrees
	.drive_speed_fl	Front-wheel left-wheel linear speed m/s
	.drive_speed_fr	Front-wheel right-wheel linear speed m/s
	.drive_speed_rl	Rear-wheel left-wheel linear speed m/s
	.drive_speed_rr	Rear-wheel right-wheel linear speed m/s
	.drive_angular_speed_fl	Front-wheel left-wheel angular speed rad/s
	.drive_angular_speed_fr	Front-wheel right-wheel angular speed rad/s
	.drive_angular_speed_rl	Rear-wheel left-wheel angular speed rad/s
	.drive_angular_speed_rr	Rear-wheel right-wheel angular speed rad/s
	.motion_mode	0: Dual Ackerman Mode 1: Parallel Mode : Spinning Mode

Control Interface

The chassis control interface can be used to command the chassis to move at the target speed, which includes the combination of X, Y, and Yaw Rate:

Topic Name	Description	Message Type
/control_command	Issuing the chassis control signal	signal_chassis/ControlCommand.msg

Topic Name	Field	Description
/control_command	header	Standard ROS header
	.motion_mode	0: Dual Ackerman Mode 1: Transition Mode 2: Spinning Mode 3: Vector Control Mode 4: Breaking Mode
	.x	Not used for Mode 2 & Mode 4; Mode 0: Linear speed of x in the range of (-1, 1) m/s Mode 1: Linear speed of x-direction in the range of (-1, 1) m/s Mode 3: Linear speed of x-direction in the range of (-1, 1) m/s
	.y	Not used for Mode 0 & Mode 2 & Mode 4 Mode 1: Linear speed of y-direction in the range of (-1, 1) m/s Mode 3: Linear speed of y-direction in the range of (-1, 1) m/s
	.w	Not used for Mode 1 & Mode 4; Motion Mode 0: (-45°, 45°) Motion Mode 2: angular speed in the range of (-3.7, 3.7) rad/s Motion Mode 3: angular speed in the range of (-3.7, 3.7) rad/s