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HUNTER SE USER MANUAL
2
HUNTER SE
AgileX Robotics Team
USER MANUALV.2.0.0 2023.09
Document version
No. Version Date Edited by Reviewer Notes
1 V.2.0.0 2023/08/23
谢
瑞
亲
Update the
ROS package
usage
section
Add picture
Format
adjustment
3
2 V.2.0.1 2023/09/04
吴
忠
义
Update
remote
control
picture
Check the
ros
development
part
The latest
ros
environment
uses 18.0.4
Synchronized
car
parameter
list
Car charging
diagram
3 V2.1.0 2024/05/13
曾昱
欣
V1.1 Deleted
15AH
battery
paramet
ers
Added
BMS
informati
on
Changed
the
setting
of the
remote
cont
roller
joystick
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4
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
Added
remote
control
three
speed
control
gears
Figure
3.0
Upadted
Robot
charger
connectio
n
diagram
Added
CAN
protocol
for car
odomete
r
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5
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.
HUNTER SE 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:
Effectivenessandresponsibility
Make a risk assessment of the complete robot system.
Connect the additional safety equipment of other machinerydefined
bytheriskassessmenttogether.
Confirm that the design and installation of the entire robot system's peripheral equipment,
including softwareand hardwaresystems,are correct.
This robot does not have the relevant safety functions of a complete autonomous mobile
robot, including but not limited 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 dangersin
practicalapplication.
Collect all the documents in the technical file: includingriskassessment andthismanual.
Environmental
For the first use, please read this manual carefully to understand the basic operating content
and operating specification.
Itisstrictlyforbidden to carry people
For remote control operation, select a relatively open area to use HUNTER SE, because it is
not equipped with any automatic obstacle avoidance sensor.Please keep a safe distance of
more than 2 meters when HUNTERSE is moving.
UseHUNTERSEunder -10°C ~ 45°C ambienttemperature.
The waterproof and dust-proof capability of HUNTERSEisIP22.
Pre-work Checklist
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Makesureeachequipmenthassufficientpower.
Make sure the vehicle does not have any obvious defects.
Check if the remote controller battery has sufficient power.
When using, make sure the emergency stop switch hasbeen released.
Operation
Make sure the area around is relatively spacious in use.
Carry out remote control within the range of visibility.
The maximum load of HUNTERSE is 50KG. When in use, ensure that the payload does not
exceed50KG.
When installing an external extension, confirm the position of the center of mass of the
extension and makesure itisatthecenterofthevehicle.
Please charge in time when the equipment is low batteryalarm.
When the equipment has a defect, please immediately stop using it to avoid secondary
damage.
Maintenance
Regularly check the pressure of the tire, and keep the tirepressure atabout2.0BAR.
If the tire is severely worn or burst, please replace it in time.
If the battery is not used for a long time, the battery needs to be charged periodically every
2 to 3 months.
When the equipment has a defect, please contact the relevant technical to deal with it, and
do not handle thedefectbyyourself.
Please use it in an environment that meets the requirements of the protection level
according to the IPprotection levelofthe equipment.
When charging, make sure the ambient temperature isabove 0°C.
This section includes some precautions that should be paid attention to for HUNTER SE use and
development.
Battery
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Attention
7
The battery supplied with HUNTER SE is not fully charged in the factory setting, but its
specific power capacity can be displayed on the voltmeter at rear end of HUNTER SE
chassis or read via CAN bus communication interface. The battery recharging can be
stopped when the green LED on the charger turns green. Note that if you keep the charger
connected after the green LED gets on, the charger will continue to charge the battery with
about 0.1A current for about 30 minutes more to get the battery fullycharged.
Please do not charge the battery after its power has been depleted, and please charge the
battery in time when low battery level alarmis on;
Static storage conditions: The best temperature for battery storage is -10
℃
to 45
℃
; in case
of storage for no use, the battery must be recharged and discharged once about every 2
months, 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 a dedicated lithium battery charger. Do not
charge the battery below 0°C, and do not use batteries, power supplies,and chargers that are
not standard.
HUNTER SE only supports the replacement and use of the battery provided by us, and the
battery can becharged separately.
Usage environment
The operating temperature of HUNTER SE is -10
℃
to 45
℃
; please do not use it below -10
℃
or above 45
℃
;
The requirements for relative humidity in the operational environment of HUNTER SE are:
maximum80%,minimum30%;
Please do not use it in the environment with corrosive and flammable gases or closed to
combustible substances;
Do not store it around heating elements such as heatersorlarge coiled resistors;
HUNTER SE is not water-proof, thus please do not use it in rainy, snowy or water-
accumulated environment;
It is recommended that the altitude of the operational environmentshould notexceed 1000M;
It is recommended that the temperature difference between day and night in the operational
environment should notexceed 25°C;
Electrical external extension
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8
For the extended power supply at rear end, the current should not exceed 10A and the total
power should not exceed 240W;
The top and tail extended power supply current, each socket cannot be greater than 24V10A,
the total output current cannot be greater than 15A, and the total power cannot exceed
360W.
When the system detects that the battery voltage is lower than the safe voltage, external
power supply extensions will be actively switched off. Therefore, users are suggested to
notice if external extensions involve the storage of important data and have no power-
offprotection.
Other notes
When handling and setting up, please do not fall off or place the vehicle upside down;
For non-professionals, please do not disassemble the vehicle without permission.
HUNTERSE is an Ackermann model programmable UGV (UNMANNED GROUND VEHICLE), which
is a chassis designed with Ackermann steering, with similar characteristics to cars, and has
obvious advantages on ordinary cement and asphalt roads. Compared with the four-wheel
differential chassis, HUNTERSE has higher load capacity, can achieve higher movement speed,
and at the same time wear less to the structure and tires, suitable for long-term work. Although
HUNTERSE is not designed for all-terrain, it is equipped with swing arm suspension and can
pass through common obstacles such as speed bumps. Stereo camera, lidar, GPS, IMU,
manipulator and other equipment can be optionally installed on HUNTERSE for extended
applications. HUNTERSE can be applied to unmanned inspection, security, scientific research,
exploration, logistics and other fields.
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Contents
1 HUNTER SE Introduction
1.1 Component list
9
1.2 Tech specifications
Name
quantity
HUNTERSE robot body
X1
Battery charger(AC220V)
X1
Aviationplug(4Pin)
X1
FS remote controller(optional)
X1
USBtoCANcommunicationmodule
X1
Type
Items
Parameters
Mechanical
Dimensions (mm)
820×640×310
Axle Track (mm)
550
Front/rear track (mm)
460
Kerb weight (Kg)
42
Battery type
Lithium battery
Battery parameters
24V 30Ah
Power drive motor
DC brushless 2 X 350W
Steering drive motor
DC brushless150W
Parkingtype
Loss of power electromagnetic
brake
Steering type
Front wheelAckermann
Suspension
Front wheel non-independent
suspension + rear wheel
independent suspension
Drive motor reduction ratio
1
：
4
Drive motor sensor
Magnetic encoder1000
Performation
IP grade
IP22
10
FS RC transmitter is provided (optional) in the factory setting of HUNTER SE, which allows users
to control the chassis of robot to move and turn; HUNTER SE is equipped with CAN interface,
and users can carry out secondary development through it.
This section will give a basic introduction to the HUNTER SE mobile robot chassis, so that users
and developers have a basic understanding of the HUNTER SE chassis. Figures 2.1 and 2.2 below
1.3 Requirement for development
2 The Basics
Maximum speed
（
km/h
）
4.8
Minimum turning radius (mm)
1.9
Maximum gradeability (°)
Full load
≤
20°
Maximum inner wheel steering
angle
22°
Steering accuracy
0.5
Ground clearance (mm)
120mm
Maximum endurance (h)
8
Maximum travel (km)
20KM (24V30Ah Battery
）
Charging time (h)
3h (24V30Ah Battery
）
1.5h (24V60Ah Battery
）
Working temperature (
℃
)
-10~40
Control
Control mode
Remote control mode
Command control mode
Remote controller
2.4G/limit distance 100M
Communication Interface
CAN
11
provide the views of the entire mobile robot chassis.
Figure2.1 FrontView
Figure2.2 RearView
HUNTER SE adopts a modular and intelligent design concept as a whole. The vacuum rubber
wheel and powerful DC brush-less servo motor are used on the power module, which makes the
HUNTER SE robot chassis development platform have a strong pass ability. And it is also easy
for HUNTER SE to cross obstacles with the front wheel bridge suspension. Emergency stop
switches are installed on both sides of the vehicle body, so that emergency stop operations can
be performed quickly in the event of an emergency, so as to avoid safety accidents and reduce
or avoid unnecessary losses. The rear of HUNTER SE is equipped with an open electrical
12
interface and communication interface, which is convenient for customers to carry out secondary
development. The electrical interface adopts aviation waterproof connectors in the design and
selection, which is beneficial to the expansion and use of users on the one hand, and enables the
robot platform to be used in some harsh environments on theother hand.
Users can identify the status of vehicle body through the voltmeter, the beeper and lights
mounted on HUNTERSE. For details, please refer to Figure 2.1.
The extension interface at the rear is shown in Figure 2.6, in which Q1 is the charging interface;
Q2 is the power switch; Q3 is the power display interaction; Q4 is the CAN and 24V power
extension interface.
2.1 Status indication
2.2 Instructions on electrical interfaces
2.2.1 Instructions on rear electrical interface
Status
Description
Current voltage
Thecurrentbatteryvoltagecanbeviewedthroug
hthe
voltmeterintherearelectricalpanel.
Low voltage alarm
When the battery voltage is lower than 24.5V (if
the BMS is connected, the SOC is judged to be
lower than 15%), the vehicle body will make a
harsh sound of "Beep-Beep-Beep" to prompt.
When the battery voltage is detected to be lower
than 24V (if the BMS is connected, the SOC is
judged to be lower than 10%), HUNTER SE will
actively cut off the external expansion power
supply and driver power supply in order to
prevent battery damage. At this time, the chassis
will not be able to perform motion control and
accept external command control.
Power on display
The tail voltmeter lights up
13
Thedefinition ofQ4
’
sspecific pin isshown in Figure 2.7.
Figure 2.7 Pin Instruction oftheRearAviation Interface
FS remote control is an optional accessory for HUNTER SE. Customers can choose according to
actual needs. The remote control can easily control the HUNTER SE universal robot chassis. In
this product, we use the left-hand throttle design. Refer to Figure 2.8 for its definition and
function.
The functions of the buttons are defined as: SWA is temporarily not activated. SWB is the control
mode selection lever, which is the command control mode when it is turned to the top, and the
2.3 Instructions on remote control
14
remote control mode when it is turned to the middle. SWC controls the speed. When it is in the
top mode, the linear velocity of the robot is 1.5m/s. If SWC is in the middle mode, the velocity is
3m/s. The bottom mode is 4.8m/s. S1 is the throttle button, which controls the HUNTER SE
Forward and backward; S2 controls the steering of the front wheels, and POWER is the power
button. Press and hold at the same time to turn on.
Note: The mapping of the remote control has been set before leaving the factory, please do
not change it at will.
Figure 2.8 Schematic diagram of the FS remote control buttons
Remote control interface description:
15
Hunter : model
Vol: battery voltage
Car: chassis status
Batt: Chassis power percentage
P:Park
Remoter: remote control battery level
Fault Code: Error information (refer to the fault information description table)
We set up a coordinate reference system for ground mobile vehicle according to the ISO 8855
standard as shown in Figure 2.9.
Figure 2.9 SchematicDiagramofReferenceCoordinate SystemforVehicleBody
As shown in Figure 2.9, the vehicle body of HUNTERSE is in parallel with X axis of the
established reference coordinate system. In the remote control mode, push the remote control
stick S1 forward to move in the positive X direction, and push S1 backward to move in the
negative X direction. When S1 is pushed to the maximum value, the movement speed in the
positive X direction is the maximum; when S1 is pushed to the minimum value, the movement
speed in the negative X direction is the maximum; the remote control stick S2 controls the
steering of the front wheels of the vehicle body; push S2 to the left, and the vehicle turns to the
left; push it to the maximum,and the steering angle is the largest; push S2 to the right, and the
vehicle turns to the right; push it to the maximum, and the right steering angle is the largest at
this time. In the control command mode, the positive value of the linear velocity means
movement in the positive direction of the X axis, and the negative value of the linear velocity
means movement in the negativedirection of the X axis; the steering angle is thesteering angle of
the inner wheel.
2.4 Instructions on control demands and movements
16
This section mainly introduces the basic operation and use of the HUNTERSE platform, and how
to carry out the secondary development of HUNTERSE through the external CAN interface and
the CAN bus protocol.
Thebasic operation process of thestartup operation is as follows:
Check
Check the condition of HUNTER SE. Check whether there are significant anomalies; if so,
please contacttheafter-saleservicepersonalforsupport;
Check the state of emergency-stop switches. Make suretheemergencystopbuttons
arereleased;
When using for the first time, make sure that Q2 (knob switch) in the rear electrical panel is
vertical, and the HUNTER SE is in a power-off state at this time.
Startup
Turn the knob switch to the horizontal state (Q2); under normal circumstances, the voltmeter
normally displaysthebattery voltage;
Check the battery voltage, and the normal voltage range is 24.5~26.8V; if there is a
continuous "beep-beep-beep..." sound from the beeper, it means that the battery voltage is
too low, then please charge itintime.
Shutdown
Turn the knob switchto verticalto cutoffthe power.
Emergency stop
Press the emergency stop switch on the side of the HUNTER SE vehicle body.
3 Getting Started
3.1 Use and operation
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17
Basic operating procedures of remote control
After the HUNTER SE mobile robot chassis is started correctly, turn on the RC transmitter
and set SWB to the remote controlmode. Then,HUNTER SE platform movement can be
controlled by the RC transmitter.
HUNTER SE products are equipped with a 10A charger by default in the car, which can meet
charging needs. During normal charging, there is no indicator light on the chassis to indicate the
charging status of the vehicle. Please judge whether it is currently charging according to the
charger status indicator light.
The specific operating procedures of charging are as follows:
Make sure that the HUNTER SE chassis is in a shutdown state. Before charging, please
make sure that the power switch in the rear electrical console is turnedoff;
Insert the plug of the charger into the Q1 charging interfacein therearelectricalcontrolpanel;
Connect the charger to the power supply and turn on the charger switch to enter the
charging state.
Note: For now, the battery needs about 3 hours to be fully recharged from 24.5V, and the voltage
of a fully recharged battery is about 26.8V
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3.2 Charging and battery replacement
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18
Battery replacement
Turn off the power switch of the HUNTER SE chassis
Press the button lock on the battery replacement panel to open the battery panel
Unplug the currently connected battery interface, respectively (XT60 power connector) (BMS
connector) lock
Take out the battery, note that the battery is not allowed to hit and collide during this process
Install the battery to be used and plug the connector back into the
Turn off the power to replace the panel, press the lock
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19
The CAN communication standard in HUNTER SE adopts CAN2.0B standard, the communication
baud rate is 500K, and the message format adopts MOTOROLA format. The linear velocity and
steering angle of the chassis movement can be controlled through the external CAN bus
interface; HUNTER SE will feedback the current movement status information and the status
information of the HUNTER chassis in real time. The system status feedback command includes
current vehicle body status feedback, control mode status feedback, battery voltage feedback
and fault feedback.The protocol content is shown in Table 3.1.
Table 3.1 Feedback Frame of HUNTER SEChassis System Status
3.3 Development
Command
Name
SystemStatusFeedbackCommand
Sending node
Receiving node
ID
Cycle
（
ms
）
Receive time-
out(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x211
100ms
None
20
Data length
0x08
Position
Function
Datatype
Description
byte[0]
Current status of
vehicle body
unsignedint8
0x00 Normalcondition
0x01 Emergency stop mode
0x02 System exception
byte[1]
Modecontrol
unsignedint8
0x00 Standby mode
0x01CAN command control mode
0x03 Remote control mode
byte[2]
byte[3]
The battery
voltageis 8 bits
higher
The battery
voltageis 8 bits
lower
unsignedint16
Actual voltage× 10(with an accuracy of
0.1V)
byte[4]
byte[5]
The failure
information is 8
bits higher
The failure
information is 8
bits lower
unsignedint16
Refer to remarks [Description of
Failure Information]
byte[6]
Reserved
-
0x00
byte[7]
Count check
(count)
unsignedint8
0~255 cycle count;every time an
instruction issent,the count will
increase once
Description of Fault
byte
Bit
Meaning
byte[4]
bit[0]
Motor over temperature fault
(0: No failure 1: failure)
21
bit[1]
Driver over current fault (0: No
failure 1: failure)
bit[2]
Driver status error (0:No
failure1:Failure)
bit[3]
Reserved,default 0
bit[4]
Reserved,default 0
bit[5]
Reserved,default 0
bit[6]
Reserved,default 0
bit[7]
Reserved,default 0
byte[5]
bit[0]
Battery under-voltage
failure(0:No failure1:Failure)
bit[1]
Steering zero setting error
(0:No failure1:Failure)
bit[2]
Remote controller
communication connection
(0:No failure1:Failure)
bit[3]
Steering motor driver
communication failure (0:No
failure 1:Failure)
bit[4]
Rear right motor driver
communication failure(0:No
failure1:Failure)
bit[5]
Rear left motor driver
communication failure(0:No
failure 1:Failure)
bit[6]
Reserved,default 0
bit[7]
Emergency stop (0:No
failure1:E-stop is triggerd)
22
The command of movement control feedback frame includes the feedback of current linear
velocity and steering angle of moving vehicle body. The specific protocol content is shown in
Table3.2.
Table 3.2 Movement Control Feedback Frame
The movement control frame includesthe linear velocity control command and the front wheel
inner angle control command.The specific protocol content is shown inTable 3.3.
Table 3.3 Motion Control Instruction Control Frame
Command Name
Movement Control Feedback Frame
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-out
(ms)
Steer-by-wire
chassis
Decision-making
controluni
0x221
20ms
None
Datalength
0x08
Position
Function
Datatype
Description
byte[0]
byte[1]
The movement
speed is 8 bits
higher
The movement
speed is 8 bits
lower
signedint16
Actual speed × 1000 (with an accuracy
of
0.001m/s)
byte[2]
Reserved
0x00
byte[3]
Reserved
0x00
byte[4]
Reserved
0x00
byte[5]
Reserved
0x00
byte[6]
byte[7]
The angle is 8
bits higher
The angle is 8
bits lower
Signedint16
Actual inner angle X 1000
(unit:0.001rad)
23
PS: In the CAN command mode, it is necessary to ensure that the 0X111 command frame is sent
in a period less than 500MS (recommended period is 20MS), otherwise HUNTER SE will judge
that the control signal is lost and enter an error (0X211 feedback that the upper layer
communication is lost). After the system reports an error, it will enter the standby mode. If the
0X111 control frame returns to the normal sending period at this time, the upper layer
communication disconnection error can be automatically cleared, and the control mode returns
to the CAN control mode.
The mode setting frame is used to set the control interface of HUNTER SE. The specific protocol
content is shown in Table 3.4.
Command
Name
Motion
Command
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Decision-mak
ingcontrol unit
Chassis node
0x111
20ms
500ms
Datalength
0x08
Position
Function
Datatype
Description
byte[0]
byte[1]
The linear
velocity is 8 bits
higher
The linear
velocity is 8 bit
slower
signed
int16
Moving speed of vehicle body,
unit:mm/s
（
effective value: +-4800)
byte[2]
Reserved
—
0x00
byte[3]
Reserved
—
0x00
byte[4]
Reserved
—
0x00
byte[5]
Reserved
—
0x00
byte[6]
byte[7]
The angle is 8
bits higher
The angle is 8
bits lower
signed
int16
Steering inner angle unit:0.001rad
(effective value+-400)
24
Table 3.4 Control Mode Setting Command
Description of control mode: In case the HUNTERSE is powered on and the RC transmitter is not
connected, the control mode is defaulted to standby mode. At this time, the chassis only receives
control mode command, and does not respond to other commands. To use CAN for control, you
need to switch to CAN command mode at first. If the RC transmitter is turned on, the RC
transmitter has the highest authority, can shield the control of command and switch the control
mode.
Thestatus setting frame is used to clear system errors. The protocol content is shown in Table
3.5.
Table 3.5 Status Setting Frame
Command
Name
Control Mode Setting Command
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Decision-
makingcontrol
unit
Chassisnode
0x421
none
none
Datalength
0x01
Position
Function
Datatype
Description
byte[0]
Control mode
unsignedint8
0x00Standby mode
0x01CAN command mode, enters
standby mode by default after power-
on
Command
Name
Status Setting
Command
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Decision-making
controlunit
Chassis node
0x441
none
none
Datalength
0x01
Position
Function
Datatype
Description
25
[Note] Sample data, the following data is only for testing
1.The chassis moves forward at 0.15m/s.
2.The chassis steering 0.2rad
The chassis status information will be feedback, and what
’
s more, the information about motor
current, encoder and temperature are also included. The following feedback frame contains the
information about motor current, encoder andmotor temperature.
The corresponding motor numbers of the three motors in the chassis are: steering No. 1, right
rear wheel No. 2, left rear wheel No. 3
Themotor speed current position information feedback is shown in Table 3.6 and 3.7.
Table 3.6 Motor Drive High Speed Information Feedback Frame
byte [0] error clearing
command
unsigned int8 0x00 Clear all non-critical failures
0x01 Clear battery undervoltage
failure
0x04 Clear the communication
failure of the steering motor driver
0x05 Clear the communication
failure of the rear right motor driver
0x06 Clear the communication
failure of the rear left motor driver
byte[0]
byte[1]
byte[2]
byte[3]
byte[4]
byte[5]
byte[6]
byte[7]
0x00
0x96
0x00
0x00
0x00
0x00
0x00
0x00
byte[0]
byte[1]
byte[2]
byte[3]
byte[4]
byte[5]
byte[6]
byte[7]
0x00
0x00
0x00
0x00
0x00
0x00
0x00
0xC8
Command Name
Motor Drive High Speed Information Feedback Frame
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-
out(ms)
26
Table 3.7 Motor Drive Low Speed Information FeedbackFrame
Steer-by-wire
chassis
Decision-making
control unit
0x251~0x253
20ms
None
Datalength
0x08
Position
Function
Data type
Description
byte[0]
byte[1]
The motor speed
is 8 bits higher
The motor speed
is 8 bits lower
signedint16
Current motor speed Unit RPM
byte[2]
byte[3]
The motor
current
is 8 bits higher
The motor
current
is 8 bits lower
signedint16
Motor current Unit 0.1A
byte[4]
byte[5]
byte[6]
byte[7]
Reserved
--
0×00
Command Name
Motor
Drive Low Speed Information Feedback Frame
Sending node
Receivingnode
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x261~0x263
100ms
None
Datalength
0x08
Position
Function
Data type
Description
byte[0]
byte[1]
The drive voltage
is 8 bits higher
The drive voltage
is8 bits lower
unsigned int16
Current drive voltage Unit0.1V
27
The specific content of the drive status information is shown in Table 3.8.
Table 3.8 Drive Status Description
byte[2]
byte[3]
The drive
temperatureis 8
bits higher
The drive
temperatureis 8
bits lower
signed int16
Unit1
℃
byte[4]
Motor
temperature
signed int8
Unit1
℃
byte[5]
Drive status
unsigned int8
See the details in [Drive control status]
byte[6]
Reserved
—
0x00
byte[7]
Reserved
—
0x00
Drive Status
Byte
Bit
Description
byte[5]
bit[0]
Whether the power supply
voltage is too
low(0:Normal1:Too low)
bit[1]
Whether the motor is over
heated (0:Normal1:Overheated)
bit[2]
Whether the drive is over
current(0:Normal1:Overcurrent)
bit[3]
Whether the drive is over
heated (0:Normal1:Overheated)
bit[4]
Sensor status
(0:Normal1:Abnormal)
bit[5]
Drive error
status(0:Normal1:Error)
28
Steering zero setting and feedback commands are used to calibrate the zero position. The
specific contents of the protocol are shown in Table 3.10 and 3.11.
Table 3.10 Steering Zero Setting Command
Table 3.11 Steering Zero Setting Feedback Command
bit[6]
Drive enable status(1:Enable
0:Disable)
bit[7]
Reserved
Command Name
Steering Zero Setting
Frame
Sendingnode
Receivingnode
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x432
None
none
Datalength
0x01
Position
Function
Datatype
Description
byte[0]
The zero offset is
8 bits higher
signedint16
Zero offset value pulse numbe
reference value
22000+-10000
byte[1]
The zero offset is
8 bits lower
CommandName
Steering Zero Setting Feedback
Frame
Sendingnode
Receivingnode
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x43B
None
none
Datalength
0x02
Position
Function
Datatype
Description
byte[0]
The zero offset
is8bits higher
signedint16
Beyond the settable range, the chassis
will use the default value 22000
29
Table 3.12 Steering Zero Query Command
BMS Data feedback frame is shown as table 3.13 and 3.14.
Table 3.13 BMS Data Feedback
byte[1]
The zero offset
is8bits
lower
CommandName
SteeringZeroQuery
Command
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Decision-making
control unit
Steer-by-wire
chassis
0x433
None
none
Datalength
0x01
Position
Function
Datatype
Description
byte[0]
Query the current
zero offset value
unsignedint8
Fixed value:0×AA
The query successfully returns 0×43B
Command Name
BMS Data Feedback Frame
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x361
500ms
none
Data length
0x08
Position
Function
Data Type
Description
byte [0]
Battery SOC
unsignedint8
Range 0~100
byte [1]
Battery SOH
unsignedint8
Range 0~100
byte [2]
The battery
voltage is 8 bits
higher
unsignedint16
unit
：
0.01V
30
Table 3.14 BMS Status Feedback
byte [3]
The battery
voltage is 8 bits
lower
unsignedint16
unit
：
0.01V
byte [4]
The battery
current is 8 bits
higher
signed int16
unit
：
0.1A
byte [5]
The battery
current is 8 bits
lower
signed int16
unit
：
0.1A
byte [6]
The battery
temperature is 8
bits higher
signed int16
unit
：
0.1
℃
byte [7]
The battery
temperature is 8
bits lower
signed int16
unit
：
0.1
℃
CommandName
BMS Status Feedback
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x362
500ms
None
Data Length
0x04
Position
Function
Data Type
Description
byte [0]
Alarm Status 1
unsignedint8
BIT1
：
overvoltage BIT2
：
undervoltage
BIT3
：
high temperature
BIT4
：
low temperature BIT7
：
discharge overcurrent
byte [1]
Alarm Status 2
unsignedint8
BIT0
：
charge overcurrent
31
Light control command is in Table 3.15
Table 3.15 Light control Frame
Light control feedback frame is in 3.16
Table 3.16 Light control feedback frame
byte [2]
Warning Status 1
unsignedint8
BIT1
：
overvoltage BIT2
：
undervoltage
BIT3
：
high temperature
BIT4
：
low temperature BIT7
：
discharge overcurrent
byte [3]
Warning Status 2
unsignedint8
BIT0
：
charge overcurrent
CommandName
Light control frame
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Decision-making
control unit
Steer-by-wire
chassis
0x121
20ms
500ms
Data length
0x08
Position
Function
Data Type
Description
byte [0]
Light control
enabled label
unsigned int8
0x00 Control command is invalid
0x01 Light control is enabled
byte [1]
Light mode
unsigned int8
0x00 Always off
0x01 Always on
byte [2]
Reserved
_ _
0x00
byte [3]
Reserved
_ _
0x00
byte [4]
Reserved
_ _
0x00
byte [5]
Reserved
_ _
0x00
byte [6]
Reserved
_ _
0x00
byte [7]
Reserved
_ _
0x00
32
The odometer information feedback frame is shown in Table 3.17.
Table 3.17 Odometer Feedback Frame
CommandName
Light control feedback frame
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-
out(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x231
20ms
None
Data length
0x08
Position
Function
Data Type
Description
byte [0]
Current lighting
control enable
flag
unsigned int8
0x00 Control command is invalid
0x01Control command is enabled
byte [1]
Current lighting
mode
unsigned int8
0x00 Always off
0x01 Always on
byte [2]
Reserved
unsigned int8
0x00
byte [3]
Reserved
_ _
0x00
byte [4]
Reserved
_ _
0x00
byte [5]
Reserved
_ _
0x00
byte [6]
Reserved
_ _
0x00
byte [7]
Count
unsigned int8
0~255 loop count, the count is
incremented every time an instruction
is sent.
CommandName
Odometer Feedback Frame
Sending node
Receiving node
ID
Cycle
（
ms
）
Receivetime-
out(ms)
33
Steer-by-wire
chassis
Decision-making
control unit
0x311
20ms
None
Data length
0x08
Position
Function
Data Type
Description
byte [0]
Left wheel
odometer
highest position
signed int32
Chassis left wheel odometer
feedback,
Unit: mm
byte [1]
Left wheel
odometer
second highest
position
signed int32
Chassis left wheel odometer
feedback,
Unit: mm
byte [2]
Left wheel
odometer
second lowest
position
signed int32
Chassis left wheel odometer
feedback,
Unit: mm
byte [3]
Left wheel
odometer
second lowest
position
signed int32
Chassis left wheel odometer
feedback,
Unit: mm
byte [4]
Right wheel
odometer
highest position
signed int32
Chassis right wheel odometer
feedback,
Unit: mm
byte [5]
Right wheel
odometer
second
highest position
signed int32
Chassis right wheel odometer
feedback,
Unit: mm
byte [6]
Right wheel
odometer
second
lowest position
signed int32
Chassis right wheel odometer
feedback,
Unit: mm
34
HUNTER SE is shipped with a aviation plug male connector as shown in Figure 3.2. Refer to
Table 3.2 for the definition of thecable.
Figure 3.2 Schematic diagram of the male aviation plug
Start the HUNTER SE 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 HUNTERSE chassis will accept the command from
the CAN interface, and the host can also analyze the current status of the chassis through the
real-time data fed back by the CAN bus at the same time. Refer to CAN communication protocol
for specific protocol content.
To facilitate the customer's upgrading of the
fi
rmware version used by HUNTER SE and bring the
customer a better experience, HUNTER SE provides a hardware interface for the
fi
rmware
upgrading, and the corresponding client software as well.
3.3.2 CAN cable connection
3.3.3 Implementation of CAN command control
3.4 Firmware upgrade
byte [7]
Right wheel
odometer
lowest position
signed int32
Chassis right wheel odometer
feedback,
Unit: mm
35
Upgrade Preparation
AgilexCAN debugging moduleX 1
Micro USB cableX 1
HUNTER SE chassisX 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.exesoftware (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 Serialbutton, 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 Filebutton to load the firmware to be upgraded. If the loading is
successful, the firmware information will be obtained, as shown in the figure
●
●
●
●
36
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.
37
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 ROSmainly supports UBUNTU.
Hardware preparation
CANlight can communication module X1
Thinkpad E470 notebook X1
AGILEX HUNTER SE mobile robot chassis X1
AGILEX HUNTER SE supporting remote control FS-i6sX1
AGILEX HUNTER SE rearaviation socket X1
Use example environment description
Ubuntu 18.04 LTS
3.5 HUNTERSE ROS Package use example
●
●
●
●
●
●
38
ROS
melodic
Git
Hardware connection and preparation
Lead out the CAN cable of the HUNTER SE 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 HUNTER SE 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 Figure3.4.
Figure 3.4 CAN Connection Diagram
ROS installation
For installation details,please refer to http://wiki.ros.org/kinetic/Installa-tion/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
●
●
●
●
●
●
●
●
●
●
39
sudo apt install can-utils
If the can-to-usb has been connected to the BUNKER robot this time, and the car has been
turned on, use the following commands to monitor the data from the BUNKER chassis
candump can0
Please refer to:
[1]https://github.com/agilexrobotics/agx_sdk
[2]https://wi-ki.rdu.im/_pages/Notes/Embedded-System/Linux/-can-bus-in-linux.html
HUNTER SE ROS PACKAGE download and compile
Download ros dependent package
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
Clone and compile hunter_ros source code
$ cd ~/catkin_ws/src
$ git clone https://github.com/agilexrobotics/ugv_sdk.git
$ git clone https://github.com/agilexrobotics/hunter_ros.git
$ cd ..
$ catkin_make
Reference source:
https://github.com/agilexrobotics/hunter_ros
Start the ROS nodes
Start the base node
$ roslaunch hunter_bringup hunter_robot_base.launch
Start the keyboard remote operation node
$ roslaunch hunter_bringup hunter_teleop_key-board.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
●
●
●
●
●
●
40
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.
Q
：
HUNTER SE is started up correctly, but why cannot the RC transmitter control the vehicle
body to move?
A
：
First, check whether the drive power supply is in normal condition, whether the drive power
switch is pressed down and whether E-stop switches are released; then, check whether the
control mode selected with the top left mode selection switch on the RC transmitter is correct.
Q:HUNTER SE remote control is in normal condition, and the information about chassis status
and movement can be received correctly, but when the control frame protocol is issued, why
cannot the vehicle body control mode be switched and the chassis respond to the control
frame protocol?
A:Normally, if HUNTER SE can be controlled by a RC transmitter, it means the chassis
movement is under proper control; if the chassis feedback frame can be accepted, it means CAN
extension link is in normal condition. Please check the CAN control frame sent to see whether
the data check is correct and whether the control mode is in command control mode.
Q:HUNTER SE gives a "beep-beep-beep..."sound in operation; how to deal with this problem?
A: If HUNTER SE gives this "beep-beep-beep" sound continuously, it means the battery is in the
alarm voltage state. Please charge the battery intime.
4 Q&A
5 Product Dimensions
5.1 Illustration diagram of product external dimensions
41
5.2 Illustration diagram of top extended support
dimensions
42
43
44
