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BUNKER MINI 2.0 User Manual
2
BUNKER MINI
AgileXRoboticsTeam
User ManualV.2.0.1 2023.09
Document version
No. Version Date Edited by Reviewer Notes
1 V1.0.0 2023/1/15
何
⼠
⽟
first draft
3
2 V2.0.0 2023/3/21
何
⼠
⽟
1. Modify the
ros driver
readme
2. Change
bunkermini
three views
3. Added
remote
control
information
feedback
4. Added
mileage
information
feedback
5. Added
bms
information
feedback
6. Optimize
page layout
3 V2.0.1 2023/09/02
谢
瑞
亲
Add
rendering
image
Modify how
to use ROS
package
Document
checking
4
This chapter contains important safety information that must be read and understood by any
individual or organization before using the equipment whenthe robot is powered on for the first
time. You can contact us at support@agilex.ai if you have any questions about usage.It is very
important that all assembly instructions and guidelines in other chapters of this manual are
followed and implemented.Particular attention should be paid to text associated with warning
signs.
The information in this manual does not include the design, installation and operation of a
complete robotic application, nor does it include any peripherals that may affect the safety of
this complete system. The design and use of this complete system requires compliance with the
Safety Information
4 V2.0.2 2023/09/06
吴
忠
义
Update
remote
control
picture
Optimize file
format
Aviation
insert update
Updated
appearance
dimension
diagram
5 V2.0.3 2024/01/30
曾昱
欣
Update motor
and driver
feedback
frame
5
safety requirements established in the standards and specifications of the country where the
robot is installed.
It is the responsibility of BUNKERMINI's integrators and end customers to ensure compliance
with relevant specifications and effective laws and regulations, so as to ensure that there are no
major hazards in the complete robot application example. This includes but is not limited to the
following:
Validity and Responsibility
Make a risk assessment of the complete robot system.
Link together the additional safety equipment for other machinery as defined by the risk
assessment.
。
Confirm that the design and installation of the peripherals of the complete robot system,
including software and hardware systems, are accurate.
This robot does not have relevant safety functions of a complete autonomous mobile robot,
including but not limited to automatic anti-collision, anti-falling, biological approach
warning, etc. These functions require integrators and end customers to conduct safety
assessments in accordance with relevant rspecifications and effective laws and regulations,
so as to ensure that the developed robot does not have any major dangers and safety
hazards in practical applications.
Gather all documents in the technical file: including the risk assessment and this manual.
Be aware of possible safety risks before operating and using the equipment.
Environment
When using it for the first time, please read this manual vehicleefully to understand the basic
operation contents and operation specifications.
For remote operation, choose a relatively open area for use, and the vehicle itself does not
have any automatic obstacle avoidance sensors.
Use in an ambient temperature of 0
℃
~40
℃
.
If the vehicle does not have an individually customized IP protection level, the vehicle's
waterproof and dustproof capabilities are IP67.
Inspection
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Make sure that each device has sufficient power.
Make sure there is no obvious abnormality in the vehicle.
Check that the remote control's batteries are fully charged.
Operation
Make sure the surrounding area is relatively clear during operation
Remote control within sight range
The maximum load capacity of BUNKERMINI is 25KG. When using it, make sure the payload
does not exceed 25KG.
When installing external extensions on BUNKERMINI, confirm the position of the center of
mass of the extension to ensure it is at the center of rotation
When the device alarms for low battery, please charge it in time.
Please use the device in an environment that meets the protection level requirements
according to the IP protection level of the device.
Please do not push the cart directly
The tail extension power supply current does not exceed 10A, and the total power does not
exceed 240W.
Battery precautions
The battery of BUNKER MINI products is not fully charged when it leaves the factory. The
specific battery voltage and power can be displayed through the voltage display meter at the
rear of the BUNKER MINI chassis or through the vol and batt on the remote control.
Please do not charge the battery after it is used up. Please charge it in time when the
BUNKER MINI remote control battery is lower than 15% or the tail voltage display is lower
than 25V.
Static storage conditions: The optimal storage temperature is -10
℃
~40
℃
. When the battery
is not in use, it must be charged and discharged once every month, and then stored at full
voltage. Do not store the battery Place in fire, or heat the battery. Do not store batteries at
high temperatures.
Charging: You must use the matching dedicated lithium battery charger for charging. Do not
charge the battery below 0°C. Do not use non-original standard batteries, power supplies,
and chargers.
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7
Precautions for use environment
The working temperature of BUNKER MINI is -10
℃
~40
℃
. Please do not use it in
environments with temperatures below -10
℃
or above 40
℃
.
Do not use it in an environment with corrosive or flammable gases or near flammable
substances.
Please do not use it near heating elements such as heaters or large coil resistors.
BUNKER MINI is IP67 waterproof and dustproof. Please do not use it soaked in water for a
long time. Check and remove rust regularly.
It is recommended that the operating environment altitude does not exceed 1000M
It is recommended that the temperature difference between day and night in the use
environment does not exceed 25
℃
Regularly inspect and maintain track tensioners
Safety Precautions
If you have any questions about the use process, please follow the relevant instruction
manual or consult relevant technical personnel.
Before using the equipment, pay attention to the on-site conditions to avoid improper
operation that may cause personal safety problems.
In case of emergency, press the emergency stop button to power off the equipment.
Please do not modify the internal device structure without technical support and permission.
When something goes wrong with the equipment, please stop using it immediately to avoid
secondary damage.
When an abnormality occurs in the equipment, please contact the relevant technical
personnel and do not handle it without authorization.
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CONTENTS
8
BUNKER MINI 2.0is an all-round tracked chassis vehicle for industrial applications. It is featured
with simple and sensitive operation, large development space, adaptability to development and
application in various fields, IP67 dustproof and waterproof, and great gradeability, etc. It can be
used for the development of special robots such as inspection and exploration, EOD rescue,
special shooting, and special transport, and is a solution to robot movement.
1
Introduction of BUNKER MINI 2.0
1.1
Product List
1.2
Performance parameters
Name Quantity
BUNKER MINI 2.0robot body x1
Battery charger(AC 220V) x1
Aviation plug male
（
4Pin
）
x1
FS remote control (optional) x1
USB to CAN communication module x1
Parameter Types Items Values
9
Mechanical specifications L × W × H (mm) 690 x 570 x 335
Wheelbase (mm) -
Front/rear wheel base (mm) -
Chassis height 80
Track width 100
Curb weight (kg) 56
Battery Type Lithium battery
Battery parameters 30AH
Power drive motor
2×250W DC brush motor
Steering drive motor -
Parking mode -
Steering Track type differential steering
Suspension form
-
Steering motor reduction
ratio
-
Steering motor encoder
-
Drive motor reduction ratio
19.7
：
1
Drive motor sensor
Magnetic braiding 1024
10
BUNKER MINI 2.0is equipped with FS remote control from the factory, through which users can
control the chassis of the BUNKER MINI 2.0mobile robot to complete the movement and rotation
operations. Besides, BUNKER MINI 2.0 is equipped with a CAN interface, through which users
can conduct secondary development.
This part will give a basic introduction to the BUNKER MINI 2.0mobile robot chassis, so that
users and developers can have a basic understanding of BUNKER MINI 2.0chassis.
1.3
Required for development
2
The Basics
Performance parameters IP Grade IP67
Maximum speed (km/h) 1.0
Minimum turning radius (mm) Can turn in place
Maximum gradeability (°) 30°
Maximum obstacle crossing 120mm
Ground clearance (mm) 410
Maximum battery life (h) 8
Maximum distance (km)
14KM
Charging time (h)
3
Working temperature (
℃
)
-10~40
℃
Control Control mode Remote control Control
Command control mode
RC transmitter 2.4G/extreme distance 200M
System interface CAN
11
The rear electrical interface is shown in Figure 2.1, in which Q1 is the emergency stop switch, Q2
is the power switch, Q3 is the power display interaction, Q4 is the charging interface, and Q5 is
the CAN and 24V power aviation interface.
Figure2.1 Rear electrical interface
The definition of the communication and power interface of Q5 is shown in Figure 2-2.
2.1
Electrical interface description
Pin No. Pin Type Function and
Definition
Remarks
12
Figure 2.2 Pin definition diagram of the rear aviation extension interface
The Fuss remote control is an optional accessory for BUNKER MINI products. Customers can
choose according to actual needs. Using the remote control can easily control the BUNKER MINI
universal robot chassis. In this product, we use the design of the left-hand accelerator. Its
definition and functions can be referred to Figure 2.3. The functions of the buttons are defined
as follows: SWA and SWD are temporarily not enabled. SWB is the control mode selection
button. Push it to the top for command control mode. Push it to the middle for remote control
mode. SWC is the car light mode button. Push it to the top. It is the normal-on mode of the car
lights. Dial it to the middle to turn the lights on when the car is moving. Dial it to the bottom to
switch the lights to the normally-off mode. S1 is the throttle button, which controls BUNKER MINI
to move forward and backward; S2 controls rotation, and POWER is the power button. Press and
hold at the same time to turn it on.
Please note: SWA, SWB, SWC, and SWD all need to be at the top when the remote control is
turned on.
2.2
Remote control instructions
1 Power VCC Positive power
supply, voltage range
24~29V, maximum
current 10A
2 Power GND Negative power
supply
3 CAN CAN_H CAN bus high
4 CAN CAN_L CAN bus low
13
Figure 2.3 Schematic diagram of FSremote 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)
14
We establish the coordinate reference frame of the ground mobile vehicle according to the ISO
8855 standard as shown in Figure 2.4.
Figure 2.4 Schematic diagram of the vehicle body reference frame
As shown in 2.4, the BUNKER MINI 2.0body is parallel to the X-axis of the established reference
frame.
2.3
Control command and motion description
15
In the remote control mode, the remote control joystick S1 moves in the positive direction of X
when pushed forward, and moves in the negative direction of X when pushed backward. When S1
is pushed to the maximum value, the movement speed in the positive direction of X is the largest,
and when pushed to the minimum value, the movement speed in the negative direction of the X
direction is the largest. The remote control joystick S2 controls the rotation of the vehicle body
left and right. When S2 is pushed to the left, the vehicle body rotates from the positive direction
of the X axis to the positive direction of the Y axis. When S2 is pushed to the right, the vehicle
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 linear velocity of counterclockwise
rotation is the largest, and when it is pushed to the right to the maximum value, the linear
velocity of the clockwise rotation is the largest.
In the control command mode, the positive value of the linear velocity means moving in the
positive direction of the X-axis, and the negative value of the linear velocity means moving in the
negative direction of the X-axis. The positive value of the angular velocity means that the vehicle
body moves from the positive direction of the X-axis to the positive direction of the Y-axis, and
the negative value of the angular velocity means that the vehicle body moves from the positive
direction of the X axis to the negative direction of the Y axis.
This part mainly introduces the basic operation and use of the BUNKER MINI 2.0platform, and
introduces how to carry out the secondary development of the vehicle body through the external
CAN port and the CAN bus protocol.
Check
Check the vehicle body condition. Check whether there is any obvious abnormality in the
vehicle body; if so, please contact after-sales support;
Check the emergency stop switch status. Confirm that the Q1 emergency stop button at the
rear is in a released state;
When using for the first time, confirm whether Q2 (power switch) in the rear electrical panel
is pressed; if so, please press and release it, and it will be in a released state
3
Getting Started
3.1
Use and operation
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16
Start up
Press the power switch (Q2 in the electrical panel), under normal circumstances, the light of
the power switch will be on, and the voltmeter will display the battery voltage normally;
Check the battery voltage. If the voltage is greater than 24V, it indicates that the battery
voltage is normal. If it is less than 24V, the battery is low, please charge it;
Power off
Press the power switch to cut off the power;
Emergency stop
Press the emergency stop switch at the rear of the BUNKER MINI 2.0body;
Basic operation process of remote control
After the BUNKER MINI 2.0robot chassis is started normally, turn on the remote control and
select the control mode as the remote control mode, so that the motion of BUNKER MINI
2.0platform can be controlled by the remote control.
BUNKER MINI 2.0products are equipped with a standard charger by default, which can meet the
charging needs of customers.
The specific operation process of charging is as follows:
Make sure that the BUNKER MINI 2.0 chassis is in a power-off state.
Before charging, please confirm that Q2 (power switch) in the rear electrical console is
turned off
；
Insert the plug of the charger into the Q4 charging interface in the rear electrical control
panel
；
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3.2
Charging
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17
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 indication of the charger.
BUNKER MINI is shipped with the vehicle and provides a male aviation plug as shown in Figure
3.1. The definition of the wires is yellow as CANH, blue as CANL, red as power positive, and
black as negative.
Note: In the current BUNKER MINI version, only the tail interface is open to external expansion
interfaces. The power supply in this version can provide a maximum current of 10A.
Figure 3.1 Schematic diagram of aviation plug
BUNKER MINI products provide a CAN interface for user development, through which users can
command and control the car body. The CAN communication standard in BUNKER MINI products
adopts the CAN2.0B standard, the communication baud rate is 500K, and the message format
adopts MOTOROLA format. The moving linear speed and rotation angular speed of the chassis
can be controlled through the external CAN bus interface; BUNKER MINI will feedback the
current motion status information and the status information of the BUNKER MINI chassis in real
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3.3
Development
3.3.1 CAN Cable Connection
3.3.2 CAN protocol description
18
time. The protocol includes system status feedback frames, motion control feedback frames, and
control frames. The protocol content is as follows:
The system status feedback command includes current car body status feedback, control mode
status feedback, battery voltage feedback and fault feedback. The protocol content is shown in
Table 3.1:
Table 3.1BUNKER MINI 2.0Chassis State Feedback Frame
Command name System state feedback command
Sending node Receiving Node ID Cycle
（
ms
）
Receiving
Timeout(ms)
Wire-controlled
chassis
Decision control
unit
0x211 20ms None
Data length 0x08
Location Function Data Type Description
byte [0] Current vehicle
body state
unsigned int8 0x00 System normal
0x01 Emergency shut-down mode
0x02 System exception
byte [1] Mode control unsigned int8 0x00 Standby mode
0x01 CAN command control mode
0x03 Remote control mode
byte [2] The upper eight
bits of battery
voltage
unsigned int16 Actual voltage X10 (accurate to
0.1V)
byte [3] The lower eight
bits of battery
voltage
byte [4] Reserved - 0x00
byte [5] Fault
information
unsigned int8 For details, see [Fault Information
Description]
byte [6] Reserved - 0x00
19
Table 3.2 Explanation table of fault information
The motion control feedback frame command includes the feedback of current vehicle body
’
s
motion linear velocity and motion angular velocity. The specific content of the protocol is shown
in Table 3.3.
Table 3.3 Motion Control Feedback Frame
byte [7] Count
check(count)
unsigned int8 0~255 loop count, count up once
every time a command is sent
Fault information description
Byte Bit Meaning
byte [5] bit [0] Battery undervoltage fault
bit [1] Battery undervoltage warning
bit [2] Remote control disconnection
protection
（
0: normal, 1:
remote control
disconnection
）
bit [3] Reserved, default0
bit [4] Drive 2 communication fault
(0: no fault, 1: fault)
bit [5] Drive 3 communication fault
(0: no fault, 1: fault)
bit [6] Reserved, default0
bit [7] Reserved, default0
Command name Motion control feedback command
Sending Node Receiving Node ID Cycle
（
ms
）
Receiving
Timeout(ms)
Wire-controlled
chassis
Decision control
unit
0x221 20ms None
20
The control frame includes the linear velocity control opening, the angular velocity control
opening and the checksum. The specific protocol content is shown in Table 3.4.
Table 3.4 Motion Control Command Control Frame
Data length 0x08
Location Function Data Type Description
byte [0]
byte [1]
The upper eight
bits of the
movement
speed
The lower eight
bits of the
movement
speed
signed int16 Actual speed X 1000 (accurate to
0.001m/s)
byte [2]
byte [3]
The upper eight
bits of the
rotation speed
The lower eight
bits of the
rotation speed
signed int16 Actual speed X 100 (accurate to
0.01rad/s)
byte [4] Reserved - 0x00
byte [5] Reserved - 0x00
byte [6] Reserved - 0x00
byte [7] Reserved - 0x00
Command name Control command
Sending node Receivingnode ID Cycle
（
ms
）
Receiving
Timeout(ms)
Decision control
unit
Chassis node 0x111 20ms 500ms
Data length 0x08
21
The mode setting frame is used to set the control interface of the terminal, and its specific
protocol content is shown in Table 3.5
Table 3.5 Control Mode Setting Frame
Position Function Data Type
byte [0] The upper eight
bits of the linear
velocity
signed int16 Travel speedof the vehicle body,
unit mm/s, value range [-1300,1300]
byte [1] The lower eight
bits of the linear
velocity
byte [2] The upper eight
bits of
theangular
velocity
signed int16 Rotational angular velocity of the
vehiclebody, unit 0.001rad/s, value
range [-2000, 2000]
byte [3] The lower eight
bits of the
angular velocity
byte [4] Reserved
—
0x00
byte [5] Reserved
—
0x00
byte [6] Reserved
—
0x00
byte [7] Reserved
—
0x00
Command name Control modesetting command
Sending node Receivingnode ID Cycle
（
ms
）
Receiving
Timeout(ms)
Decision control
unit
Chassis node 0x421 None None
Data length 0x01
Position Function Data type Description
22
Note[1] Control mode description
When the remote control for BUNKER MINI 2.0is not turned on, the default control mode is the
standby mode, and you need to switch to the command mode to send the motion control
command. If the remote control is turned on, it has the highest authority and can block the
control of commands. When the remote control switches to the command mode, it still needs to
send the control mode setting command before responding to the speed command.
The state setting frame is used to clear system errors, and its specific protocol content is shown
in Table 3.6.
Table 3.6 State setting frame
Note 3: Example data, the following data is for testing use only
1. The vehicle moves forward at a speed of 0.15/S
byte [0] CAN control
enabling
unsigned int8 0x00 Standby mode
0x01 CAN command mode
It enters standby mode by default
after power-on
Command name Statesetting command
Sending node Receivingnode ID Cycle
（
ms
）
Receiving
Timeout(ms)
Decision control
unit
Chassis node 0x441 None None
Data length 0x01
Position Function Data type Description
byte [0] Error
clearancecomm
and
unsigned int8 0x00 Clear all non-critical faults
0x01 Clear motor 1 error
0x02 Clear motor 2 error
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x96 0x00 0x00 0x00 0x00 0x00 0x00
23
2. The vehicle rotates at 0.2RAD/S
In addition to the feedback of the chassis state information, the chassis feedback information
also includes motor data and sensor data.
Table 3.7 Feedback of motor speed current position information
byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7]
0x00 0x00 0x00 0xc8 0x00 0x00 0x00 0x00
Command name Motor driver high-speed information feedback frame
Sending node Receivingnode ID Cycle
（
ms
）
Receiving
Timeout(ms)
Wire-controlled
chassis
Decision control
unit
0x252~0x253 20ms None
Data length 0x08
Position Function Data type Description
byte [0]
byte [1]
The upper eight
bits of motor
speed
The lower eight
bits of motor
speed
signed int16 CurrentMotor speed unitRPM
byte [2]
byte [3]
The upper eight
bits of motor
current
The lower eight
bits of
motor current
signed int16 Current motor current
unit 0.1A
24
Table 3.8 Feedback of motor temperature, voltage and state information
byte [4]
byte [5]
byte [6]
byte [7]
The current
position of the
motoris the
highest
The current
position of the
motoris the
secondhighest
The current
position of the
motoris the
second lowest
The current
position of the
motoris the
lowest
signed int16 The current position of the motor
Unit: number of pulses
signed int16
signed int16
signed int16
Command name Motor driver low-speed information feedback frame
Sending node Receivingnode ID Cycle
（
ms
）
Receiving
Timeout(ms)
Wire-controlled
chassis
Decision control
unit
0x262~0x263 20ms None
Data length 0x08
Position Function Data type Description
byte [0] The upper eight
bits of driver
voltage
signed int16 Current driver voltage
unit0.1v
byte [1] The lower eight
bits of driver
voltage
25
Table 3.9 Actuator sate
byte [2] The upper eight
bits of driver
temperature
signed int16 unit 1
℃
byte [3] The lower eight
bits of driver
temperature
byte [4] Motor
temperature
signed int8 unit1
℃
byte [5] Driver state unsigned int8 See Table 3-9 for details
byte [6] Reserved - 0x00
byte [7] Reserved 0x00
Fault information description
26
Table 3.10 Odometer Feedback Frame
byte [5] bit [0] Whether the power supply
voltage is too low (0: normal
1: too low)
bit [1] Whether the motor is over-
temperature (0: normal 1:
over-temperature)
bit [2] Whether the driver is over-
current (0: normal 1: over-
current)
bit [3] Whether the driver is over-
temperature (0: normal 1:
over-temperature)
bit [4] Sensor state (0: normal 1:
abnormal)
bit [5] Driver error state (0: normal 1:
abnormal)
bit [6] Driver enabling state (0:
Enabling 1: Disabling)
bit [7] Reserved
Command name Odometer information feedback frame
Sending node Receivingnode ID Cycle
（
ms
）
Receiving
Timeout(ms)
Wire-controlled
chassis
Decision control
unit
0x311 20ms None
Data length 0x08
Position Function Data type Description
27
Table 3.11 Remote control information feedback
byte [0] The highest bit
of the left wheel
odometer
signed int32 The odometer feedback of the left
wheel of the chassis
Unit
：
mm
byte [1] The second
highestbit of
the left wheel
odometer
byte [2] The second
lowest bitof the
left wheel
odometer
byte [3] The lowest bitof
the left wheel
odometer
byte [4] The highest bit
of the
rightwheel
odometer
signed int32 The odometer feedback of the
rightwheel of the chassis
Unit
：
mm
byte [5] The second
highestbit of
the rightwheel
odometer
byte [6] The second
lowest bitof the
rightwheel
odometer
byte [7] The lowest bitof
the right wheel
odometer
Command name Remote control information feedback frame
28
Table 3.12 Battery BMS data feedback
Sending node Receivingnode ID Cycle
（
ms
）
Receiving
Timeout(ms)
Wire-controlled
chassis
Decision control
unit
0x241 20ms None
Data length 0x08
Position Function Data type Description
byte [0] Remote control
SW feedback
unsigned int8 bit[0-1]: SWA
：
2-up 3-down
bit[2-3]: SWB
：
2-up 1-mid 3-down
bit[4-5]: SWC
：
2-up 1-mid 3-down
bit[6-7]: SWD
：
2-up 3-down
byte [1] Right joystick
left and right
signed int8 Value range
：
[-100,100]
byte [2] Right joystick up
and down
signed int8 Value range
：
[-100,100]
byte [3] Left joystick up
and down
signed int8 Value range
：
[-100,100]
byte [4] Left joystick left
and right
signed int8 Value range
：
[-100,100]
byte [5] Left knobVRA signed int8 Value range
：
[-100,100]
byte [6] Reserved -- 0x00
byte [7] Count check unsigned int8 0-255 loop count
Command The feedback data of BMS
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-
making and
control unit
0x361 500ms None
29
Table 3.13 Battery BMS data feedback
Data length 0x08
Byte Meaning Data type Note
byte [0] Battery SOC
（
State of
Charge
）
unsigned int8 Range 0~100
byte [1] Battery
SOH(State of
Health)
unsigned int8 Range 0~100
byte[2]
byte[3]
High order byte
of battery
voltage
Low order byte
of battery
voltage
unsigned int16 Unit: 0.01 V
byte[4]
byte[5]
High order byte
of battery
current
Low order byte
of battery
current
signed int16 Unit: 0.1 A
byte[6]
byte[7]
High order byte
of battery
temperature
Low order byte
of battery
temperature
signed int16 Unit: 0.1
℃
Command
The feedback data of BMS
30
ROS provides some standard operating system services, such as hardware abstraction, low-level
device control, implementation of common functions, inter-process messaging, and data packet
management. ROS is based on a graphical architecture, so that processes of different nodes can
receive, publish, and aggregate various information (such as sensing, control, state, planning,
etc.). Currently ROS mainly supports UBUNTU.
Development preparation
Hardware preparation
3.3.3 BUNKER MINI 2.0ROS Package Usage Example
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-
making and
control unit
0x362 500ms None
Data length 0x04
Byte Meaning Data type Note
byte [0] Alarm Status 1 unsigned int8 BIT1: Overvoltage; BIT2:
Undervoltage; BIT3: High
temperature; BIT4: Low
temperature; BIT7: Discharge
overcurrent
byte [1] Alarm Status 2 unsigned int8 BIT0:Charging overcurrent
byte [2] Warning Status 1 unsigned int8 BIT1: Overvoltage; BIT2:
Undervoltage; BIT3: High
temperature; BIT4: Low
temperature; BIT7: Discharge
overcurrent
byte [3] Warning Status
2
unsigned int8 BIT0: Charging overcurrent
31
CANlight can communication module X1
Thinkpad E470 Laptop X1
AGILEX BUNKER MINI 2.0 mobile robot chassis X1
AGILEX BUNKER MINI 2.0 supporting remote control FS-i6s X1
AGILEXBUNKER MINI 2.0 top aviation receptacle X1
Environment description of usage example
Ubuntu 18.04
ROS
Git
Hardware connection and preparation
Pull out the CAN line of the BUNKER MINI 2.04-core aviation or rear plug, and connect the
CAN_H and CAN_L in the CAN line to the CAN_TO_USB adapter respectively;
Turn on the chassis knob switch of the BUNKER MINI 2.0mobile robot, and check whether
the emergency stop switches on both sides are released;
Connect CAN_TO_USB to the USB port of the laptop. The connection diagram is shown in
Figure 3.4.
Figure 3.4 CAN line connection diagram
ROS Installation and Environment Setup
For installation details, please refer to http://wiki.ros.org/kinetic/Installa-tion/Ubuntu
Test CANABLE hardware and CAN communication
Set the CAN-TO-USB adapter
Enable the gs_usb kernel module
sudo modprobe gs_usb
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●
●
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●
●
●
●
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●
32
Set baud rate to 500k and enable the CAN-TO-USB adapter
sudo ip link set can0 up type can bitrate 500000
If there is no error in the previous steps, you can check the CANdevices with the command
below
ifconfifig -a
Install and use can-utils to test hardware
sudo apt install can-utils
If the CAN-TO-USB adapter has been connected to the TITANand the TITANhas been
powered on, the command below can be usedto monitor the data from the TITAN.
candump can0
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 BUNKER ROS PACKAGE Download and compile
Download ros dependencies
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
Clone and compile the 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
：
https://github.com/agilexrobotics/bunker_ros
Start the ROS node
●
●
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●
33
Start the base node
roslaunch bunker_bringup bunker_robot_base.launch
Run the keyboard_control node
roslaunch bunker_bringup bunker_teleop_keyboard.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
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
In order to facilitate users to upgrade the firmware version of BUNKER MINI 2.0and bring to
customers more perfect experience, BUNKER MINI 2.0provides the hardware interface for
firmware upgrade and the corresponding client software.
Upgrade Preparation
AgilexCAN debugging moduleX 1
Micro USB cableX 1
BUNKER MINI
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.
●
●
4 Use and operation
●
●
●
●
34
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
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.
35
5 Q&A
36
Q: BUNKER MINI 2.0starts normally, but the vehicle body does not move with the remote
control?
A: First, determine whether the power switch is pressed and whether the emergency stop switch
is released, and then confirm whether the control mode selected by the mode selection switch on
the upper left side of the remote control is correct.
Q: When the BUNKER MINI 2.0remote control is normal, the chassis state and motion
information feedback is normal, and the control frame protocol is issued, why the vehicle body
control mode cannot be switched, andthe chassis does not respond to the control frame
protocol?
A: Under normal circumstances, if BUNKER MINI 2.0can be controlled by the remote control, it
means that the chassis motion control is normal, and it can receive the feedback frame of the
chassis, which means that the CAN extension link is normal. Please check whether the command
is switched to CAN control mode..
Q: When the relevant communication is carried out through the CAN bus, and the chassis
feedback command is normal, why does the car do not respond after the control is issued?
A: BUNKER MINI 2.0has a communication protection mechanism inside. Chassis has a timeout
protection mechanism when dealing with external CAN control commands. Assuming that after
the vehicle receives a frame of communication protocol, it does not receive the next frame of
control commands for more than 500MS, and it will enter the communication protection with a
speed of 0, so the command from the host computer must be periodically issued.
6 Product Dimensions
6.1Illustrations of product outline dimensions
37
6.2 Illustrations of top expansion bracket dimensions
38
39
