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TRACER 2.0 User Manual
2
TRACER 2.0
AgileXRoboticsTeam
User ManualV.1.0.0 2025.03
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,
Document version
No. Version Date Edited by Reviewer Firmware
1 V.1.0.0 2025/03/20 Cynthia V1.0.2
3
which is very important. Particular attention should be paid to the text related to the warning
signs.
Theinformationinthismanualdoesnotincludethedesign,installationandoperationofacompleterobo
tapplication,nordoesitincludeallperipheralequipmentthatmaya
ff
ectthesafetyofthecompletesyst
em.Thedesignanduseofthecompletesystemneedtocomplywiththesafety requirements
established in the standards and regulations of the country where the robot is installed. TRACER 2.0 's
integrators and endcustomers have the responsibility to ensure compliance with the applicable laws
and regulations of relevant countries, and to ensure that therearenomajordangersinthecomplete
robotapplication. Thisincludesbutisnotlimitedtothefollowing:
Effectiveness and responsibility
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 does not have a complete autonomous mobile 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.
Environmental Considerations
For the first use,please read this manual carefully to understand the basic operating content
and operating specification.
For remote control operation, select a relatively open area to use TRACER 2.0, because
TRACER 2.0 is not equipped with any automatic obstacle avoidance sensor.
Use TRACER 2.0 always under -10
℃
~45
℃
ambient temperature.
SafetyInformation
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4
If TRACER 2.0 is not configured with separate custom IP protection, its water and dust
protection will be IP22 ONLY.
Pre-work Checklist
Make sure each device has sufficient power.
Make sure TRACER 2.0 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.
Operation
In remote control operation, make sure the area around is relatively spacious.
Carry out remote control within the range of visibility.
The maximum load of TRACER 2.0 is 100KG. When in use, ensure that the payload does not
exceed 100KG.
When installing an external extension on TRACER 2.0, confirm the position of the center of
mass of the extension and make sure it is at the center of rotation.
Please charge in time when the device voltage is lower than 22.5V.
When TRACER 2.0 has a defect, please immediately stop using it to avoid secondary
damage.
When TRACER 2.0 has had a defect, please contact the relevant technical to deal with it, do
not handle the
defect by yourself.
Always use TRACER 2.0 in the environment with the protection level requires for the
equipment.
Do not push TRACER 2.0 directly.
When charging, make sure the ambient temperature is above 0
℃
.
Maintenance
In order to ensure the storage capacity of the battery, the battery should be stored under
electricity, and it should be charged regularly when not used for a long time.
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5
This section includes some precautions that should be paid attention to for TRACER 2.0 use and
development.
Battery
The battery supplied with TRACER 2.0 is not fully charged in the factory setting, but its
specific power capacity can be displayed on the voltmeter at rear end of TRACER 2.0
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 fully charged.
Please do not charge the battery after its power has been depleted, and please charge the
battery in time when low battery level alarm is 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; lithium-ion
batteries cannot be charged below 0°C (32°F) and modifying or replacing the original
batteries are strictly prohibited.
Operational environment
The operating temperature of TRACER 2.0 outdoors is -10
℃
to 45
℃
;please do not use it
below -10
℃
and above 45
℃
outdoors;
The requirements for relative humidity in the use environment of TRACER 2.0 are: maximum
80%, minimum 30%;
Please do not use it in the environment with corrosive and flammable gases or closed to
combustible substances;
Do not place it near heaters or heating elements such as large coiled resistors, etc.;
Except for specially customized version (IP protection class customized), TRACER 2.0 is not
water-proof, thus please do not use it in rainy, snowy or water-accumulated environment;
The elevation of recommended use environment should not exceed 1,000m;
The temperature difference between day and night of recommended use environment should
not exceed 25
℃
;
Attention
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6
Electrical/extension cords
The tail extension power supply current does not exceed 5A, and the total power does not
exceed 120W;
When the system detects that the battery voltage is lower than the safe voltage, the external
power expansion device will be actively cut off. Therefore, if the external expansion device
involves the storage of important data and does not have power-down protection, it is
recommended that the user pay attention.
Additional safety advice
In case of any doubts during use, please follow related instruction manual or consult related
technical personnel;
Before use, pay attention to field condition, and avoid mis-operation that will cause
personnel safety problem;
In case of emergencies, press down the emergency stop button and power off the equipment;
Without technical support and permission, please do not personally modify the internal
equipment structure.
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.
TRACER 2.0 is designed as a multi-purpose UGV with different application scenarios considered:
modular design; flexible connectivity; powerful motor system capable of high payload.The
combination of two-wheel differential chassis and hub motor can make it move flexible
indoor.Additional components such as stereo camera, laser radar, GPS, IMU and robotic
manipulator can be optionally installed on TRACER 2.0 for advanced navigation and computer
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CONTENTS
1 TRACER 2.0 Introduction
7
vision applications. TRACER 2.0 is frequently used for autonomous driving education and
research, indoor and outdoor security patrolling and transportation, etc.
1.1 Component list
1.2 Tech specifications
Name Quantity
TRACER 2.0Robotbody x1
Batterycharger(AC220V) x1
Remotecontrol transmitter(optional) x1
Aviationplug(male,4-Pin) x1
USBtoCANcommunicationmodule x1
Parameter Types Items Values
Mechanical specifications L × W × H (mm) 702x610x169
Wheelbase (mm) 517.4
Front/rear wheel base (mm) -
Total weight (kg) 54-56
Battery Type
Lithium iron phosphate battery
Battery parameters 24V 30Ah (optional: 24V 60Ah)
Power drive motor DC brushless 2 X 400W
Parking mode Servo brake/safety contact
strip
Steering Differential steering
Suspension form
Swing arm non-independent
suspension
Drive motor sensor
Magnetic encoder 2500
8
RC transmitter is provided (optional) in the factory setting of TRACER 2.0, which allows users to
control the chassis of robot to move and turn; CAN interfaces on TRACER 2.0 can be used for
user
’
s customization.
This section provides a brief introduction to the TRACER 2.0 mobile robot platform, as shown in
Figure 2.1 and Figure2.2.
1.3 Development requirements
2 The Basics
Performance parameters IP Grade IP22
Maximum speed (m/s) 2.0
Minimum turning radius (mm) Can turn in place
Maximum gradeability (°) 8°
Ground clearance (mm) 27
Maximum battery life (h) 10
Maximum distance (km)
80km
Charging time (h)
3
Working temperature (
℃
)
-10~40
℃
Control Control mode Remote control Control
Command control mode
RC transmitter 2.4G/extreme distance 100M
System interface CAN
9
TRACER 2.0 is designed as a complete intelligent module, along with powerful DC hub motor,
enabling the chassis of TRACER 2.0 robot to move flexibly on flat ground indoors.
Light is mounted at the front of the vehicle. The white light is designed for illumination in front.
An emergency stop switch is mounted at the rear end of the vehicle body, which can shut down
the power of the robot immediately when the robot behaves abnormally.
Water-proof connectors for DC power and communication interface is provided at the rear of
TRACER 2.0, which not only allow flexible connection between the robot and external
10
components but also ensure necessary protection to the internal of the robot even under severe
operating conditions.
A bayonet open compartment is reserved on the top for users.
Users can check the current power level of the device by the indicator light status on the outside
of the switch installed on the front of TRACER 2.0.
The expansion interface on the side is shown in Figure 2.2. The upper part is the emergency stop
switch; the left side is the power charging port; the right side is the CAN and 24V power
expansion interface.
2.1 Status indication
2.2 Instructions on electrical interfaces
2.2.1 Rear electrical interface
11
There is a CAN communication interface and a 24V power supply interface on the side. The
specific definition of its line sequence is shown in the figure
Figure 2.5 Description of Rear Aviation Interface Pins
FS remote control is an optional accessory for TRACER 2.0 products. Customers can choose
according to actual needs. Using the remote control can easily control the TRACER 2.0 universal
robot chassis. In this product, we use the design of the left-hand accelerator. Its definition and
function can refer to Figure 2.6.
2.3 Instructions on remote control
12
The function of the buttons is defined as follows:
The joysticks of the remote control are SWA, SWB, SWC, and SWD from left to right;
●
SWA up: normal mode, SWA down: assist mode. After pushing, the motor will slightly assist in
the pushing direction, making it easier to push.
●
SWB up: navigation mode, swB middle: remote control mode.
●
SWC up: breathing light, swC middle: constant brightness. swC down: turn off the light.
●
SWD up: low speed mode, maximum 1.5m/s. swD down: high speed mode, maximum 2m/s
●
S1 is the throttle button, which controls TRACER 2.0 to move forward and backward; S2
controls rotation;
13
●
POWER is the power button, which can be turned on and off by pressing and holding at the
same time.
●
When the chassis emergency stop is restored by pressing the KEY1 button, it is necessary to
use the KEY1 button to restore it before it can be controlled again.
●
key2 is the button to enter the settings and selection.
Remote control interface description:
TRACER 2.0 : 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)
A reference coordinate system can be defined and fixed on the vehicle body as shown in Figure
2.7 in accordance with ISO 8855.
Figure 2.7 Schematic Diagram of Reference Coordinate System for Vehicle Body
As shown in Figure 2.7, the vehicle body of TRACER 2.0 is in parallel with X axis of the
established reference coordinate system. In the remote control mode, if the remote control
2.4 Instructions on control demands and movements
14
joystick S1 is pushed forward, it moves in the positive direction of X, and if S1 is pushed
backward, it moves in the negative direction of X. When S1 is pushed to the maximum value, the
speed of movement in the positive direction of X is the maximum, and when S1 is pushed to the
minimum value, the speed of movement in the negative direction of X is the maximum; the
remote control joystick S2 controls the rotation of the car body left and right. When S2 is pushed
to the left, the car body rotates from the positive direction of X axis to the positive direction of Y
axis, and when S2 is pushed to the right, the car body rotates from the positive direction of X
axis to the negative direction of Y axis. When S2 is pushed to the left to the maximum value, the
counterclockwise rotation linear velocity is the maximum, and when S2 is pushed to the right to
the maximum value, the clockwise rotation linear velocity is large.
In the control command mode, the positive value of the linear velocity indicates movement in the
positive direction of X axis, and the negative value of the linear velocity indicates movement in
the negative direction of X axis; the positive value of the angular velocity indicates that the car
body moves from the positive direction of X axis to the positive direction of Y axis, and the
negative value of the angular velocity indicates that the car body moves from the positive
direction of X axis to the negative direction of Y axis.
This section introduces the basic operation and development of the TRACER 2.0 platform using
the CAN bus interface.
Check
Check the condition of vehicle body. Check whether there are significant anomalies; if so,
please contact the after-sale service personnel for support;
Check the state of emergency stop switches. Make sure both emergency stop buttons are
released.
Shut down
Rotate the key switch to cut off the power supply;
Start up
Emergency stop switch status. Confirm that the emergency stop buttons are all released;
3 Getting Started
●
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●
15
Rotate the key switch (Q6 on the electrical panel), and normally, the voltmeter will display
correct battery voltage and front and rear lights will be both switched on.
Emergency stop
Press down emergency push button both on the left and the right
of rear vehicle body;
Shut down
Rotate the key switch to cut off the power supply;
Start up
Emergency stop switch status. Confirm that the emergency stop buttons are all released;
Rotate the key switch (Q6 on the electrical panel), and normally, the voltmeter will display
correct battery voltage and front and rear lights will be both switched on.
Emergency stop
After the chassis of TRACER 2.0 mobile robot is started correctly, turn on the RC transmitter
and select the remote-control mode. Then, TRACER 2.0 platform movement can be
controlled by the RC transmitter.
TRACER 2.0 is equipped with a 10A charger by default to meet customers' recharging demand.
The detailed operating procedure of charging is shown as follows:
Make sure the electricity of TRACER 2.0 chassis is powered off. Before charging, please
make sure Q6 (key switch) in the rear control console is turned off;
Insert the charger plug into side charging interface on the rear control panel;
Connect the charger to power supply and turn on the switch in the charger. Then, the robot
enters the charging state.
When charging normally, there is no indicator light on the chassis. Please see the charger
indicator light instructions for specific instructions.
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3.2 Charging
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3.3 Communication using CAN
16
TRACER 2.0 provides CAN interface for user customization. Users can use it to conduct
command control over the vehicle body.
TRACER 2.0 adopts CAN2.0B communication standard which has a communication baud rate of
500K and Motorola message format. Via external CAN bus interface, the moving linear speed
and the rotational angular speed of chassis can be controlled; TRACER 2.0 will feedback on the
current movement status information and its chassis status information in real time.
The protocol includes system status feedback frame, movement control feedback frame and
control frame, the contents of which are shown as follows:
The system status feedback command includes the feedback information about current status of
vehicle body, control mode status, battery voltage and system failure. The description is given in
Table 3.1.
Table 3.1 Feedback Frame of TRACER 2.0 Chassis System Status
3.3.1 CAN message protocol
Command Name System Status Feedback Command
Sending node Receiving node ID Cycle (ms)
Receive-
timeout (ms)
Steer-by-wire
chassis
Decision-making
control unit
0x211
20ms None
Data length 0x08
Position Function Data type Description
byte [0] Current status of
vehicle body
unsigned int8 0x00 System in normal condition
0x01 Emergency stop mode
0x02 System is abnormal
byte [1] Mode control unsigned int8 0x00 Standby mode
0x01 CAN command control mode
0x02 Remote control mode
17
Table 3.2 Description of Failure Information
byte [2] byte [3] Battery voltage
higher 8 bits
Battery voltage
lower 8 bits
unsigned int16 Actual voltage X 10 (with an accuracy
of 0.1V)
byte [4] High 8 digits of
fault information
unsigned int16 See notes for details
【
Table 3.2
】
byte [5] Low eight bits of
fault information
byte [6] Reserved - 0x00
byte [7] Count paritybit
(count)
unsigned int8 0 - 255 counting loops
Description of Failure Information
byte [4]
bit [0]
Motor driver is abnormal
bit [1:7] Reserved
18
The command of movement control feedback frame includes the feedback of current linear speed and
angular speed of moving vehicle body. For the detailed content of protocol, please refer to Table 3.3.
Table 3.3 Movement Control Feedback Frame
byte [5]
bit [0] Battery under-voltage failure
(0: No failure 1: Failure)
Protective voltage 22V
bit [1] Battery under-voltage alarm (0:
No alarm 1: Alarm) Alarm
voltage 22.5V
bit [2] Remote controller
disconnection protection (0:
Normal 1: Remote controller
disconnected)
bit [3] Motor driver 1 lost connection
bit [4]
Motor driver 2 lost connection
bit [5:6]
Reserved
bit[7]
Emergency stop
Command Name Movement Control Feedback Command
Sending node Receiving node ID Cycle (ms) Receive-timeout
(ms)
Steer-by-wire
chassis
Decision-
making control
unit
0x221 20ms None
Data length 0x08
Position Function Data type Description
19
The control frame includes control openness of linear speed and control openness of angular
speed. For its detailed content of protocol, please refer to Table 3.4.
Table3.4ControlFrameofMovementControlCommand
byte [0] byte [1] Moving speed
higher 8 bits
Moving speed
lower 8 bits
signed int16 Vehicle speed Unit
：
mm/s
byte [2] byte [3] Rotational speed
higher 8 bits
Rotational speed
lower 8 bits
signed int16 Vehicle angular speed Unit
：
0.001rad/s
byte [4] Reserved - 0x00
byte [5] Reserved - 0x00
byte [6] Reserved - 0x00
byte [7] Reserved - 0x00
CommandName ControlCommand
Sending node Receiving node ID Cycle (ms) Receive-timeout
(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x111 20ms 500ms
Data length 0x08
Position Function Datatype Description
byte[0]
byte[1]
Movingspeed
higher8bits
Movingspeed
lower8bits
signedint16 VehiclespeedUnit
：
mm/s
Effective value±1800
20
The light control frame includes current state of front light. For its detailed content of protocol,
please refer to Table 3.5.
Table 3.5 Lighting Control Frame
byte[2]
byte[3]
Rotationalspeed
higher8bits
Rotationalspeed
lower8bits
signedint16 Vehicleangularspeed
Unit
：
0.001rad/s
Effective value±1000
byte[4] Reserved
—
0x00
byte[5] Reserved
—
0x00
byte[6] Reserved
—
0x00
byte[7] Reserved
—
0x00
Command Name Lighting Control Frame
Sending node Receiving node ID
Cycle (ms) Receive-timeout
(ms)
Steer-by-wire
chassis
Steer-by-wire
chassis
0x121 25ms
500ms
Data length 0x08
Position Function Data type Description
byte [0] Lighting control
enable flag
unsigned int8 0x00 Control commandinvalid
0x01 Lighting control enable
byte [1] Front light mode unsigned int8 0x00 Always off
0x01 Always on
0x02 breathe light mode
0x03 User-defined brightness
byte [2] Custom
brightness of
front light
unsigned int8 [0,100],where 0 refers to no
brightness, 100 refers to maximum
brightnes
【
5
】
byte [3] Reserved -- 0x00
21
Note[5]: This date only valid in custom mode
The light control frame includes light control mode and control openness. For its detailed content
, please
refer to Table 3.6.
Table 3.6 Lighting Control Frame
byte [4] Reserved -- 0x00
byte [5] Reserved -- 0x00
byte [6] Reserved - 0x00
byte [7] Count paritybit
(count)
unsigned int8 0 - 255 counting loops, which will be
added once every command sent
Command Name Lighting Control Frame
Sendingnode Receivingnode ID Cycle(ms) Receive-
timeout(ms)
Steer-by-
wirechassis
Decision-
makingcontrolun
it
0x231 20ms None
Datalength 0x08
Position Function Datatype Description
byte[0] Lightingcontrol
enable
fl
ag
unsignedint8 0x00Controlcommandinvalid
0x01Lightingcontrolenable
byte[1] Frontlightmode unsignedint8 0x00 Always on
0x01 Always off
0x02 Breathe light mode
0x03 User-defined brightness
byte[2] Custombrightnes
soffrontlight
unsignedint8 [0, 100], where 0 refers to no
brightness, 100 refers to maximum
brightness
byte[3] Reserved -- 0x00
22
The control mode frame include set the control mode of chassis. For its detailed content , please
refer to Table 3.7.
Table 3.7 Control Mode Frame Instruction
Note 1
，
Control mode instruction
The default is standby mode, and you need to switch to command mode to send motion control
commands. If the remote control is turned on, the remote control has the highest authority and
can block command control. When the remote control switches to command mode, it still needs
to send a control mode setting command before it can respond to the speed command.
The status position frame includes clear error message. For its detailed content , please refer to
Table 3.8.
Table 3.8 Status position Frame Instruction
byte[4] Reserved -- 0x00
byte[5] Reserved -- 0x00
byte[6] Reserved - 0x00
byte[7]
Count paritybit
(count)
unsigned int8 0 - 255 counting loops, which will
be added once every command sent
Command Name Control Mode Setting Frame
Sending node Receiving node ID Cycle(ms) Receive-
timeout(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x421 None None
Data length 0x01
Position Function Data type Description
byte [0] Control mode unsigned int8 0x00 Remote control mode
0x01 CAN command control mode[1]
Command Name
Status position Frame
Sending node Receiving node ID Cycle (ms) Receive-timeout
(ms)
23
Table 3.9 Odometer Feedback Instruction
Steer-by-wire
chassis
Decision-making
control unit
0x441 None None
Data length 0x01
Position Function Data type Description
byte [0] Control mode unsigned int8 0x00 Clear all errors
0x01 Clear errors of motor 1
0x02 Clear errors of motor 2
Command Name
Odometer Feedback
Instruction
Sendingnode Receivingnode ID Cycle(ms) Receive-
timeout(ms)
Steer-by-
wirechassis
Decision-
makingcontrolun
it
0x311 None None
Datalength 0x08
Position Function Datatype Description
byte[0] Left tyre highest
odometer
signed int32 Data of left tyre odometer
Unit mm
byte[1] Left tyre second
highest odometer
byte[2] Left tyre second
lowest odometer
byte[3] Left tyre lowest
odometer
24
The chassis status information will be feed back; what
’
s more, the information about motor. The
following feedback frame contains the information about motor :
The serial numbers of 2 motors in the chassis are shown in the figure below:
Figure 3.0 Motor Feedback ID schematic diagram
Table 3.10 Motor High-speed Information Feedback Frame
byte[4] Right tyre highest
odometer
signed int32 Data of right tyre odometer
Unit mm
byte[5] Right tyre second
highest odometer
byte[6] Right tyre second
lowest odometer
byte[7]
Right tyre lowest
odometer
25
Table 3.11 Motor Low-speed Information Feedback Frame
Command Name Motor High-speed Information Feedback Frame
Sending node Receiving node ID Cycle (ms) Receive-timeout
(ms)
Decision-
makingcontrolun
it
Steer-by-wire
chassis
0x251~0x252 20ms None
Data length 0x08
Position Function Data type Description
byte [0]
byte [1]
Motor rotational
speed higher 8
bits
Motor rotational
speed lower 8
bits
signed int16 Motor rotational speed Unit
：
RPM
byte [2] Reserved - 0x00
byte [3] Reserved -- 0x00
byte [4] Reserved -- 0x00
byte [5] Reserved -- 0x00
byte [6] Reserved - 0x00
byte [7] Reserved - 0
CommandName MotorLow-speedInformationFeedbackFrame
Sending node Receiving node ID Cycle (ms) Receive-timeout
(ms)
Decision-
makingcontrolun
it
Steer-by-wire
chassis
0x261~0x262 100ms None
Data length 0x08
26
Table 3.12 Description of Failure Information
FOR WIRE DEFINITIONS, PLEASE REFER TO TABLE 2.2.
3.3.2 CAN cable connection
Position Function Data type Description
byte[0] Reserved - 0x00
byte[1] Reserved - 0x00
byte[2] Reserved - 0x00
byte[3] Reserved - 0x00
byte[4] Reserved - 0x00
byte[5] Driverstatus - DetailsareshowninTable3.12
byte[6] Reserved - 0x00
byte[7] Reserved - 0
Description of Failure Information
byte [5] bit [0] Reserved
bit [1] Reserved
bit [2] Reserved
bit [3] Reserved
bit [4] Whether the CAN
communication is
disconnected(0: Normal 1
：
Disconnected)
bit [6] Reserved
bit [7] Reserved
27
Figure 3.2 Schematic Diagram of Aviation Male Plug
Note:The maximum achievable output current is typically around 5 A.
Correctly start the chassis of TRACER 2.0 mobile robot, and turn on FS RC transmitter. Then,
switch to the command control mode, i.e. toggling SWB mode of FS RC transmitter to the top. At
this point, TRACER 2.0 chassis will accept the command from CAN interface, and the host can
also parse the current state of chassis with the real-time data fed back from CAN bus. For the
detailed content of protocol, please refer to CAN communication protocol
To facilitate users to upgrade the firmware ofthechassis and bring customers a better
experience, the TRACER 2.0chassis provides a hardware interface and a software for upgrading
firmware. The GUI (Graphical User Interface) of the software is shown in the figure below.
Upgrade Preparation
AgilexCAN debugging moduleX 1
Micro USB cableX 1
TRACER 2.0 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).
3.3.3 Implementation of CAN command control
3.4 Firmware upgrades
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28
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
29
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.
30
ROS provide some standard operating system services, such as hardware abstraction, low-level
device control, implementation of common function, interprocess message and data packet
management. ROS is based on a graph architecture, so that process of di
ff
erent nodes can
receive, and aggregate various information (such as sensing, control, status, planning, etc.)
Currently ROS mainly support UBUNTU.
Development Preparation
Hardware preparation
CANlight can communication module ×1
Thinkpad E470 notebook ×1
AGILEX
TRACER 2.0
mobile robot chassis ×1
AGILEX
TRACER 2.0
remote control FS-i6s ×1
AGILEX
TRACER 2.0
top aviation power socket ×1
Use example environment description
3.5 TRACER 2.0 ROS Package usage example
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●
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●
31
Ubuntu 18.04 LTS
ROS
Git
Hardware connection and preparation
Lead out the CAN wire of the TRACER 2.0 top aviation plug or the tail plug, and connect
CAN_H and CAN_L in the CAN wire to the CAN_TO_USB adapter respectively;
Turn on the knob switch on the TRACER 2.0 mobile robot chassis, and check whether the
emergency stop switches on both sides are released
；
Connect the CAN_TO_USB to the usb point of the notebook. The connection diagram is
shown in Figure 3.4.
Figure 3.4 CAN connection diagram
ROS installation and environment setting
For installation details, please refer to
http://wiki.ros.org/kinetic/Installation/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
$ sudo apt install can-utils
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●
32
If the can-to-usb has been connected to the TRACER 2.0 robot this time, and the car has
been turned on, use the following commands to monitor the data from the TRACER 2.0
chassis
$ candump can0
Please refer to:
[1] https://github.com/agilexrobotics/ugv_sdk
[2] https://wiki.rdu.im/_pages/Notes/Embedded-System/-Linux/can-bus-in-linux.html
AGILEX TRACER 2.0 ROS PACKAGE download and compile
Download ros package
$ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard
$ sudo apt install ros-$ROS_DISTRO-joint-state-publisher-gui
$ sudo apt install ros-$ROS_DISTRO-ros-controllers
Clone compile tracer_ros code
$ cd ~/catkin_ws/src
$ git clone https://github.com/agilexrobotics/ugv_sdk.git
$ git clone https://github.com/agilexrobotics/tracer_ros.git -b tracer2.0
$ cd ..
$ catkin_make
Please refer to
：
https://github.com/agilexrobotics/tracer_ros/tree/tracer2.0
Start the ROS node
Start the based node
$ roslaunch tracer_bringup tracer_robot_base.launch
Start the keyboard remote operation node
$ roslaunch tracer_bringup tracer_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.
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33
*_bringup: startup files for chassis nodes and keyboard control nodes, and scripts to enable the
usb_to_can module.
Q
：
TRACER 2.0 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:TRACER 2.0 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 TRACER 2.0 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:TRACER 2.0 gives a
“
beep-beep-beep...
”
sound in operation, how to deal with this
problem?
A:If TRACER 2.0 gives this
“
beep-beep-beep
”
sound continuously,it means the battery is in the
alarm voltage state. Please charge the battery in time. Once other related sound occur, there
may be internal errors. You can check related error codes via CAN bus or communicate with
related technical personnel.
Q:When communication is implemented via CAN bus, the chassis feedback command is issued
correctly, but why does not the vehicle respond to the control command?
4 Q&A
34
A:There is a communication protection mechanism inside TRACER 2.0, which means the chassis
is provided with timeout protection when processing external CAN control commands. Suppose
the vehicle receives one frame of communication protocol, but it does no receive the next frame
of control command after 500ms. In this case, it will enter communication protection mode and
set the speed to 0. Therefore, commands from upper computer must be issued periodically.
5 Product Dimensions
5.1 Illustration diagram of product external dimensions
35
36
