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RANGER User Manual
2
RANGER
AgileXRoboticsTeam
User ManualV.2.0.1 2023.08
Document version
No. Version Date Edited by Reviewer Notes
1 V1.0.0 2022/10/15
何
⼠
⽟
first draft
3
2 V2.0.0 2023/03/08
何
⼠
⽟
Change
appearan
ce
picture
Add
odomete
r data
feedback
Add
remote
control
data
feedback
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3 V2.0.1 2023/09/02
谢
瑞
亲
Add
renderin
g
Update
how to
use ROS
package
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Before using the robot, any individual or organization must read and understand the manual. If
you have any questions about it, please do not hesitate to contact us at support@agilex.ai. It is
very important that you shouldfollow and implement all instructions and guidelines in this
manual. Please pay extra attention to the warnings.
This manual does not cover the design, installation, and operation of a robotic application, nor does it include
any equipment that may affect the safety of a robotic system. A robotsystem that uses the RANGERshould
bedesigned and used in compliance with the safety requirements and other standards of the corresponding
countries.
Important Safety Information
4 V2.0.2 2023/09/07
何
⼠
⽟
Change
the
content
of the
agreeme
nt
Add
charging
instructi
ons
Added
instructi
ons for
battery
replacem
ent
Add
encoder
paramet
ers
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5
Anyusersof the RANGER should comply with laws and regulations of relevant countries and ensure that there
are no obvious hazards in the application of the RANGER. This includes but is not limited to the following:
Responsibility
Do a risk assessment of the robotic system that uses the RANGER.
The risk assessment should include additional safety equipment to other machinery.
Please ensurethat the equipment of the whole robotic system, including software and hardware, are
designed, and installed correctly.
The RANGERis notanautonomous mobile robot with anti-collision, anti-fall, biological approach warning,
and other safety functions. These safetyfunctions areexpected to be developedand assessed by system
integrators and end customers under relevant safety regulations and laws to ensure there are not anymajor
dangers and potential safety hazards in their practical applications.
Read all technical documents: including the risk assessment and this manual.
Know the possible safety risks before using the RANGER.
Use Environment
For the first use, please read this manual carefully to understand the basic operation and operating
specifications.
Remote control operation should be in a relatively open area. The RANGERdoes not have any automatic
obstacle avoidance sensors.
Please use the RANGER under the ambient temperature of -10
℃
~40
℃
.
The RANGER
’
swaterproof and dustproof levelisIP22 if it is not customized.
Check
Make sure each device is fully charged.
Make sure the RANGER has no obvious abnormalities.
Make sure the remote control has sufficient battery power.
Operation Precautions
Make sure the surrounding area is relatively clear during operation
Remote control within sight range
The maximum load capacity of RANGER is 150KG. When using it, make sure the payload does not exceed
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Attention
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6
150KG.
RANGER When installing an external extension, confirm the position of the center of mass of the extension
to ensure that it is at the center of rotation
When the device alarms for low battery, please charge it in time.
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.
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 15A, and the total power does not exceed 720w.
Battery precautions
The battery of RANGER products is not fully charged when it leaves the factory. The specific battery
voltage and power can be displayed through vol and batt on the RANGER remote control.
Please do not charge the battery after it is used up. Please charge it in time when the battery of the
RANGER remote control is less than 15%.
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.
Precautions for use environment
The operating temperature of RANGER 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.
RANGER is waterproof and dustproof to IP55
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
℃
Safety Precautions
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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.
The RANGER is a programmable omnidirectional UGV (UNMANNED GROUND VEHICLE), which is a chassis with
a modular design. Compared with the four-wheel differential chassis, the RANGER has obvious advantages
when running on ordinary cement roadsand asphalt roads. It not only has higher speed and load capacity, but
also reduces the wear and tear on the structure and tires. Itis also more stable and safer. Compared with
Ackermann chassis, theRANGER can realize in-situ steering and has a wider range of applications. The
RANGER combines the advantages of differential chassis and Ackermann chassis, which is suitable for various
complex terrains. What
’
smore, it can be equipped with stereo cameras, LiDAR, GNSS, IMU, manipulators and
other equipment to beapplied in fields such as unmanned inspection, security, scientific research, exploration
and logistics.
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CONTENTS
1 Introduction totheRANGER
1.1
Product List
Name Quantity
8
1.2
Performance parameters
RANGER robot 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
Mechanical specifications
L × W × H (mm)
1228×876x475
Wheelbase (mm)
560
Axle Track
（
mm
）
890
Curb weight (kg)
100
Battery Type Lithium iron phosphate
battery
Battery parameters
48V24AH(single battery)
Power drive motor
48v brushless toothed motor
Drive motor power (w) 600w×4
Drive motor torque (N.M) 22NM×4
Steering motor torque (N.M) 35nm×4
Steering motor power (w) 100
Steering motor encoder Multi-turn absolute value
Drive motor encoder Hall
Parking mode
Electronic parking
Steering
Four wheels four steering
Suspension form Independent suspension
9
The RANGER can be equipped with FS remote control when buying. Users can use it to control the
4WDchassis, complete mode switching, movement and steering. The RANGER hasa standard CAN (Controller
Area Network) communication interfaceto facilitate secondary development.
1.2 Required for Development
Performance parameters
Maximum speed (m/s)
2.6
Maximum obstacle crossing
100
（
Vertical obstacles fully
loaded
）
Maximum gradeability (°)
10
Weight (kg) 135(single battery)
Loading capacity (kg) 150
Maximum battery life (h)
2-8
Charging time (h) 1
（
single battery
）
Single battery capacity (ah) 24
（
Supports up to four
batteries
）
Rated voltage (v) 48
RC transmitter
2.4G/extreme distance 200M
System interface
CAN
Functional Application Engineering Investigation
Energy Inspection
Mine Transportation
Intelligent Security
Logistics
Agricultural Product
Collection and Transportation
10
This part is a basic introduction to the RANGER, mobile robot chassis. After reading this part, users and
developers can have an overall understanding about it. As shown in Figure 2.1 below, it is an overview of the
RANGER.
Figure 2.1 Overview of the RANGER
The RANGER is based on a modular and intelligent design concept. It adopts a composite design of pneumatic
tires and independent suspension onthe power module, and has a powerful hub motor, which makes the
RANGER swift passing ability andground adaptability. It can move flexibly on different ground. The hub motor
does not requirecomplicated transmission design, making the RANGER smaller and more flexible. An open
electrical interface and communication interface are configured at the rear of the RANGER, which is convenient
for users to carry out secondary development. The electrical interface adopts aviation waterproof connectors,
which is not onlyconducive to the expansion and use, but also allows the RANGERtobe used in some harsh
environments. A standard aluminum extension bracket is installed on the RANGER, which is convenient for users
to carry external equipment.
2 Basic Introduction
2.1 Status of the RANGER
11
The user can check the status of the RANGER through its CAN message. Please refer to Table 2.1 for specific
status.
Table 2.1 Status Description Table for the RANGER
2.2 Description of Electrical Interfaces
Status
Description
Voltage
Current battery voltage and capacity information can
be displayed via the remote control displays vol and
batt
Low Voltage Warning
When the SOC (State of Charge) ofthe battery is
lower than 15% through BMS feedback, the front and
rear lights of the RANGER will flash as a reminder.
When the battery power is detected lower than 10%,
the 4WDchassis will actively cut off the power
supply for external equipmentand driver to
protectthebattery. At this time, the chassis will not
move and accept external command control.
Detailed Status Information
Check by CAN message
12
Figure 2.2 Back View of theRANGER
The RANGER has acircular connector for expansion at its rear. The interface can beused to
provide power for external equipment (the load current cannot exceed 15 A, and the voltage
range is 46~50 V) and transfer information through its CAN communication interface. Its pins
are defined in the figure below. Please note that its power supply is subject to internal control.
When the battery voltage is lower than the safe level, it will actively cut off the power supply.
Therefore, users need to pay attention to the low voltage alarm of the RANGER before reaching
the critical voltage. Do not forget to charge the RANGER after use.
Pin Number
Pin Type
Function and Definition
Note
13
Figure 2.3 Pin descriptionsof the circular connector
Figure 2.4 Introductionof the remote control
2.3Remote Control Instructions
1
Power supply
VCC
Positiveterminal. The
voltage range is 46~50 V
The load current cannot
exceed 15 A.
2
Power supply
GND
Negative terminal
3
CAN
CAN_H
CAN Hi (High)
4
CAN
CAN_L
CAN Lo (Low)
14
As shown in the figure above, the functions of the buttons are defined as follows: SWB is the control mode
selection lever, dialed to the top is the command control mode, dialed to the middle or down is the remote
control mode; SWA is the light control switch, dialed to the bottom is to turn off the light (need SWB first enters
the remote control mode); SWC is the ultrasonic obstacle avoidance enable switch (this version does not
support it), and when it is turned to the middle, the ultrasonic obstacle avoidance function is turned on; when
SWC is turned to the bottom, it is the parking mode, and the four-wheel four-steering is X-shaped at this time
Locking
(it is important to note that when the RANGER is turned off in an X-shaped parking mode, it needs
to be turned on twice to start the switch button again)
;
SWD is the switch for Motion mode:
MovingSWD to the top is
①
front and rear Ackerman mode(the left joystick controls the speed, and the right
joystick controls the steeringangle)+
②
spin mode (the left joystick does not move, theright joystick controls
the spindirection)
MovingSWD to the bottom is the oblique motion mode: the left joystick controls the speed, and the right
joystick controls the steeringangle (the maximum angle is 90°, which makesthe RANGER move laterally);
Zero Point Calibration
1.
Set the switches as follows:
SWA: DOWN position
SWB: UP position
SWD: DOWN position
2.
Use the
left joystick
to select the target steering motor based on direction:
Top-right: front-right steering motor
Top-left: front-left steering motor
Bottom-left: rear-left steering motor
Bottom-right: rear-right steering motor
3.
Use the
right joystick (left/right)
to adjust the steering angle.
4.
Use the
left scroll wheel
to fine-tune the position incrementally in both directions.
5.
SWC
controls sensitivity:
DOWN: Coarse adjustment
MID: Medium adjustment
UP: Fine adjustment
6.
Press
Key1
to set the current position as the zero point.
○
○
○
○
○
○
○
○
○
○
15
PressingKEY1 in any case = forcibly clear all errors of the RANGER.
Attention! To be used only in special
cases where safety is guaranteed.
POWER is the power button. Press and hold itto power on.
Basic operation process of remote control:
Before starting, you need to ensure that the wheels and chassis of RANGER are parallel and
facing forward.
After starting the RANGER mobile robot chassis normally, start the remote
controller, switch the SWB to remote control mode, and then control the movement of the
RANGER platform through the remote controller.
Remote control battery replacement instructions:
The FS remote control uses 5AA batteries as its energy supply. When the remote control
display interface Remoter is relatively low, it means that the battery power of the remote control
is too low. At this time, you need to open the battery cover on the back of the remote control
and replace the battery.
This part mainly introduces the basic operation and usageof the RANGER, and how to carry out secondary
development through the external CAN interface and the CAN bus protocol.
Check
Check the RANGER status
Check whether there is any obvious abnormality in the RANGER; if so, please contact after-sales
support;
When using it for the first time, check whether the power switch in the rear electrical panel is
pressed, if pressed, please press it, and then release it. At this time, the power switch is
released, and the RANGER is powered off.
Power on and off
3 Usageand Development
3.1 Operation
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16
The switch marked with "STOP" at the rear of the RANGER is an emergency stop switch.
Pressing it will stop the RANGER immediately andturning itclockwise will exit the emergency
stop mode.
Charge
Check the battery voltage. The normal voltage range is 45-54V. If the battery voltage is too low,
please charge it in time. This product is equipped with a 20A charger by default. Insert the plug
of the charger into the charging socket on the back of the chassis, connect the charger to the
power supply, and turn on the switch on the charger to enter the charging state.
Battery replacement:
RANGER itself is equipped with a 48v24ah battery. During operation, when the battery power is
too low, we can open the battery panel on the right side to quickly replace the battery.
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17
Connection of the CAN Cable
The 4WDchassis is shipped with ancircular connectormale head. The definition of its linescan
refer to the figure below:
Figure 3.1 Overview of the circular connector
Implementation of CAN command control
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18
Start the RANGER chassis normally. At this time, the RANGER chassis will receive instructions
from the CAN interface. At the same time, the host can also analyze the status of the current
chassis through the real-time data fed back by the CAN bus. For specific protocol content, refer
to the CAN communication protocol. (Note: The remote control has the first control right and has
the highest priority. By default, the remote control does not turn on the chassis when it is
powered on, and the chassis is in standby mode.)
The CAN communication protocol in this product isCAN2.0B standard, its communication baud
rate is 500 K, and its message format is the MOTOROLA format. Through the external CAN
interface, users can switch the control model and control the linear speed and steering angle of
the RANGER. The RANGERwill real-time feedback the current movement status information
(including the integrated movement information of the vehicle and the detailed movement
information of each wheel) and the system status information (including self-diagnostic error
codes).
3.2 CAN Communication Protocol
Command
System Status Feedback Command
Node for sending
Node for receiving
ID
Period (ms)
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x211
20ms
None
Data length
0x08
Byte
Meaning
Data type
Note
byte [0]
Current vehicle
status
unsigned int8
0x00 The system is normal
0x01 0x01 Emergency shut-down
mode
0x02 The system is abnormal
byte [1]
Control mode
unsigned int8
0x00Standby mode
0x01
Command control mode
0x03
Remote control mode
19
Error message table
byte [2]
High order byteof
battery voltage
unsigned int16
Actual voltage X 10 (the unit is 0.1 V)
byte [3]
Low order byteof
battery voltage
byte [4]
Highest order
byteof error
message
unsigned int32
Refer to the error message table for
details
byte [5]
High order byteof
error message
byte [6]
Low order byteof
error message
byte [7]
Lowest order
byteof error
message
Error message
Byte Bit Meaning
byte [4] bit [0] Right front steering servo
warning (0: unfaulty; 1: faulty)
bit [1] Right rear steering servo
warning (0: unfaulty; 1: faulty)
bit [2] Left rear steering servo
warning (0: unfaulty; 1: faulty)
bit [3] Leftfront steering servo
warning (0: unfaulty; 1: faulty)
bit [4] Reserved, the default value is
0.
bit [5] Reserved, the default value is
0
20
bit [6] Reserved, the default value is
0
bit [7] Reserved, the default value is
0
byte [5] bit [0] Right front steering zero
pointcalibration status (0:
unfaulty; 1: faulty)
bit [1] Right rear steering zero
pointcalibration status (0:
unfaulty; 1: faulty)
bit [2] Left rearsteering zero
pointcalibration status (0:
unfaulty; 1: faulty)
bit [3] Left front steering zero
pointcalibration status (0:
unfaulty; 1: faulty)
bit [4] Steering calibration timeout
(0: unfaulty; 1: faulty)
bit [5] Safety edgecollision status,
(0: normal; 1: triggered, the
chassisshould bestopped
immediately.)
bit [6] Reserved, the default value is
0
bit [7] Reserved, the default value is
0
byte [6] bit [0] driverstatus (0: unfaulty; 1:
faulty)
bit [1] Communication connection
statuswith upper layer(0:
unfaulty; 1: faulty)
21
bit [2] No. 5 motor driver
communication status (0:
unfaulty; 1: faulty)
bit [3] No. 6 motor driver
communication status (0:
unfaulty; 1: faulty)
bit [4] No. 7 motor driver
communication status (0:
unfaulty; 1: faulty)
bit [5] No. 8 motor driver
communication status (0:
unfaulty; 1: faulty)
bit [6] over temperature protection
status (0: normal; 1:
triggered)
bit [7] Overcurrent protection status
(0: normal; 1: triggered)
byte [7] bit [0] Battery undervoltage status
(0: normal; 1: triggered)
bit [1] Ultrasonic obstacle
avoidancestatus (0: normal;
1: triggered)
bit [2] Remote control lost
connection protection status
(0: normal; 1: triggered)
bit [3] No. 1 motor driver
communication status (0:
unfaulty; 1: faulty)
bit [4] No. 2 motor driver
communication status (0:
unfaulty; 1: faulty)
22
The motion control feedback frame includes thecurrentlinear speed and steering angle of the
vehicle.
The details of the protocol are as follows
bit [5] No. 3 motor driver
communication status (0:
unfaulty; 1: faulty)
bit [6] No. 4 motor driver
communication status (0:
unfaulty; 1: faulty)
bit [7] Reserved, the default value is
0
Command Motion Control Feedback Command
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x221 20ms None
Data length 0x08
Byte Meaning Data type Note
byte [0]
byte [1]
High order
byteof speed
Low order
byteof speed
signed int16 Actual speed X 1000 (the unit is
0.001 m/s)
byte [2] Reserved - 0X00
byte [3] Reserved - 0X00
byte [4] Reserved - 0X00
byte [5] Reserved - 0X00
23
The motion control frame includes the linear speed control command and the steering
anglecontrol command. The details of the protocol are as follows:
byte [6]
byte [7]
High order
byteof steering
angle
Low order
byteof steering
angle
signed int16 Actual steering angleX 100 (the unit
is 0.01 °)
Command Control Command
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Decision-making
and control unit
Node for the
chassis
0x111 20ms 500ms
Data length 0x08
Byte Meaning Data type Note
byte [0]
byte [1]
High order
byteof linear
speed
Low order
byteof linear
speed
signed int16 Speed of the vehicle, whose unit
ismm/s (valid value + -2500; valid
value + -1250 when the steering
angle > 20°; taking effect in front
and rear Ackerman mode and
oblique motion mode)
Forward direction is positive
byte [2] Reserved - 0X00
byte [3] Reserved - 0X00
byte [4]
byte [5]
High order
byteof spin
speed
Low order
byteof spin
speed
signed int16 Speed of the vehicle, whose unit
ismm/s (valid value + -1000, taking
effect in spin mode)
Counterclockwise spinningis
positive.
24
As shown in Figure 3.2.1, when the RANGER is in front and rear Ackerman mode, the feedback
steering angle is (
α
+
β
)/2, left steering is negative, and right steering ispositive; the feedback
speed is the average value of the four wheels
’
speed(that is, the linear speed of the chassis),
reversing is negative, and moving forwardis positive. If you need to check the detailed steering
angle and speed of each wheel, please refer to 0X271 and 0X281 feedback frames.
Figure 3.2.1 The Ackerman structure of the RANGER
As shown in Figure 3.2.2, when the RANGERis in oblique motion mode, the feedback steering
angle is (
α
1+
α
2+
α
3+
α
4)/4, left steering is negative, and right steering ispositive; the feedback
linear speed is the average value of the four wheels
’
speed, reversing is negative, and moving
byte [6]
byte [7]
High order
byteof steering
angle
Low order
byteof steering
angle
signed int16 Steering angle, whoseunit is
0.01°(valid value +- 4000 in front
and rear Ackerman mode, valid
value +- 9000 in oblique motion
mode, only taking effectin front
and rear Ackerman mode and
oblique motion mode)
25
forwardis positive. If you need to check the detailed steering angle and speed of each wheel,
please refer to the 0x271 and 0x281 feedback frames.
Figure 3.2.2 Wheels control of the RANGERin oblique motionmode
When the chassis is in the spin mode, the steering angle is a constant value , which cannot be
changed. At this time, the feedback steering angle is the average value of the absolute values of
α
1,
α
2,
α
3, and
α
4. The spinning speed of the chassis can be changedby commands, and
counterclockwise spinningis positive.
The mode setting frame is used to set the terminal control interface, and the details of the
protocol are as follows.
Command
ControlCommand
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Decision-making
and control unit
Node for the
chassis
0x421 None None
Data length 0x01
Byte Meaning Data type Note
26
Control mode description: when the chassis is powered on and the remote control is not
connected, the control mode is standby mode. At this time, the chassis only receives control
mode commands and does not respond to other commands. To control the chassis using CAN,
you need to switch control mode to CAN command control mode first. If the remote control is
turned on, the remote control has the highest priority, which can block the control command and
switch the control mode. The status setting frame is used to clear system errors, and the details
of the protocol are as follows.
byte [0] Control mode unsigned int8 0x00Standby mode
0x01 CANcommand control mode
Boot into standby mode by default
Command
ControlCommand
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Decision-making
and control unit
Node for the
chassis
0x441 None None
Data length 0x01
Byte Meaning Data type Note
27
1.
Sample data, the following data is only for testing.
1.
The chassis turns 10°
In addition to the status of the chassis itself, its feedback information also includes the steering
angle and speed of the four wheels, the current of the motor, the encoder information, and the
temperature information.
The details of the protocol are as follows:
PS: The eight motor numbers of the chassis are: No. 1 is theright front wheel motor, No. 2 is
theright rear wheel motor, No. 3 is theleft rear wheel motor, No. 4 is the left front wheel motor,
No. 5 is theright front steering motor, No. 6 is theright rear steering motor, No. 7 is the left rear
steering motor, andNo. 8 is the left front steering motor.
byte [0] Error clearing
command
unsigned int8 0x00 Clear all non-critical faults
0x01~0x08 Clear the communication
faults of No. 1~8 motor drivers
respectively
0x09 Clear the battery undervoltage
fault and try to restore the power
supply
0x0a Clear remote control signal
loss fault
0x0b~0x0e Clear the steering
calibration fault of No. 5~8 motors
respectively
0x0f Clear overcurrent fault
0x10 Clear over temperature fault
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 0x03 0xe8
28
Feedback information of speed, current, andposition of motor
Feedback of temperature voltage and status of motor
Command High-speed feedback information frame for motor driver
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x251~0x258 20ms None
Data length 0x08
Byte Meaning Data type Note
byte [0]
byte [1]
High order
byteofmotor
speed
Low order
byteofmotor
speed
signed int16 The current speed of the motor,
whose unit is RPM (Revolutions Per
Minute)
byte [2]
byte [3]
High order
byteofmotor
current
Low order
byteofmotor
current
signed int16 The present current of the motor,
whose unit is 0.1 A
byte [4]
byte [5]
byte [6]
byte [7]
Highest order
byteofposition
High order
byteofposition
Low order
byteofposition
Lowest order
byteofposition
signed int32 The current position of the motor,
whose unit is the number of pulses
29
Table 2 Driver status
Command Low-speed information feedback frame for motor
driver
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x261~0x268 100ms None
Data length 0x08
Byte Meaning Data type Note
byte [0] High order
byteof driver
voltage
unsigned int16 The current driver voltage, whose
unit is 0.1 V
byte [1] Low order
byteof driver
voltage
byte [2] High order
byteof drive
temperature
signed int16 The unit is 1
℃
.
byte [3] Low order
byteof
drivertemperatu
re
byte [4] Motor
temperature
signed int8 The unit is 1
℃
.
byte [5] Driver status unsigned int8 See Table 2 for details
byte [6] Reserved - 0X00
byte [7] Reserved - 0X00
Byte Bit Meaning
30
Steering angle feedback of four wheels
byte[5] bit[0] Power supply voltage status
(0: normal; 1: too low)
bit[1] Motor temperature status (0:
normal; 1: over temperature)
bit[2] The current statusof the
driver(0: normal; 1: over-
current)
bit[3] Driver temperature status (0:
normal; 1: over temperature)
bit[4] Sensor status (0: Normal; 1:
Abnormal)
bit[5] Driver status (0: Normal; 1:
Abnormal)
bit[6] Drive enable status (0:
enable; 1: disable)
bit[7] Reserved
Command Information feedback frame of four wheels
’
steering angle
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x271 20ms None
Data length 0x08
Byte Meaning Data type Note
31
Rotational speed feedback of four wheels
byte [0]
byte [1]
High order
byteofsteering
angle of No.
5motor
Loworder
byteofsteering
angle of No.
5motor
signed int16 The Current steering angle,
whoseunit is0.01 °
byte [2]
byte [3]
High order
byteofsteering
angle of No.
6motor
Loworder
byteofsteering
angle of No.
6motor
signed int16 The Current steering angle,
whoseunit is0.01 °
byte [4]
byte [5]
High order
byteofsteering
angle of No.
7motor
Loworder
byteofsteering
angle of No.
7motor
signed int16 The Current steering angle,
whoseunit is0.01 °
byte [6]
byte [7]
High order
byteofsteering
angle of No.
8motor
Loworder
byteofsteering
angle of No.
8motor
signed int16 The Current steering angle,
whoseunit is0.01 °
32
Command Information feedback frame of four wheels
’
rotational
speed
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
20ms None
Data length 0x08 0x281
Byte Meaning Data type Note
byte [0]
byte [1]
High order
byteofrotationa
l speedof No.
1motor
Low order
byteofrotationa
l speedof No.
1motor
signed int16 The current rotational speed,
whoseunit is mm/s
byte [2]
byte [3]
High order
byteofrotationa
l speedof No.
2motor
Low order
byteofrotationa
l speedof No.
2motor
signed int16 The current rotational speed,
whoseunit is mm/s
byte [4]
byte [5]
High order
byteofrotationa
l speedof No.
3motor
Low order
byteofrotationa
l speedof No.
3motor
signed int16 The current rotational speed,
whoseunit is mm/s
33
The motion mode switching command is used to changemotion model of the chassis, and the
details of the protocol are as follows
The motion mode switching command is used to changemotion model of the chassis, and the
details of the protocol are as follows
byte [6]
byte [7]
High order
byteofrotationa
l speedof No.
4motor
Low order
byteofrotationa
l speedof No.
4motor
signed int16 The current rotational speed,
whoseunit is mm/s
Command Current motionmode feedback command
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x291 20ms None
Data length 0x02
Byte Meaning Data type Note
byte [0] Current motion
mode
unsigned int8 0x00front and rear Ackerman mode
0x01oblique motion mode
0x02spin mode
0x03 Parking mode
byte [1] Whether the
chassisis in the
process of
switching the
motion model
unsigned int8 0x00switching is completed.
0x01in theprocess of
switchingmotion mode
The chassis does not respond to
speed control commands in the
process of switchingmotion mode.
34
Odometerinformation feedbackframe is as follows
Front wheel
Command Control command
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Decision-making
and control unit
Node for the
chassis
0x141 None None
Data length 0x01
Byte Meaning Data type Note
byte [0] Motion mode unsigned int8 0x00front and rear Ackerman mode
(default)
0x01oblique motion mode
0x02spin mode
0x03 Parking mode
Command Odometerinformation feedback
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0×311 20ms None
Data length 0x08
Byte Meaning Data type Note
35
Rear wheel
byte [0]
byte [1]
byte [2]
byte [3]
Front left wheel
odometer
highest byte
Front left wheel
odometer
second highest
byte
Front left wheel
odometer
second lowest
byte
Front left wheel
odometer lowest
byte
signed int32 Chassis left wheel odometer
feedback,
Unit: mm
byte [4]
byte [5]
byte [6]
byte [7]
Front right wheel
odometer
highest byte
Front right wheel
odometer
second highest
byte
Front right wheel
odometer
second lowest
byte
Front right wheel
odometer lowest
byte
signed int32 Chassis right wheel odometer
feedback,
Unit: mm
Command Odometerinformation feedback
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
36
Drive-by-wire
chassis
Decision-making
and control unit
0×312 20ms None
Data length 0x08
Byte Meaning Data type Note
byte [0]
byte [1]
byte [2]
byte [3]
Rear left wheel
odometer
highest byte
Rear left wheel
odometer
second highest
byte
Rear left wheel
odometer
second lowest
byte
Rear left wheel
odometer lowest
byte
signed int32 Chassis left wheel odometer
feedback,
Unit: mm
byte [4]
byte [5]
byte [6]
byte [7]
Rear right wheel
odometer
highest byte
Rear right wheel
odometer
second highest
byte
Rear right wheel
odometer
second lowest
byte
Rear right wheel
odometer lowest
byte
signed int32 Chassis right wheel odometer
feedback,
Unit: mm
37
The remote control information feedback frame is as follows
Command Remote control information feedback
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x241 20ms None
Data length 0x08
Byte Meaning Data type Note
byte [0] Remote control
SW feedback
unsigned int8 bit[0-1]: SWA: 2-Upper gear, 3-
Lower gear
bit[2-3]: SWB: 2-Upper gear, 1-
Middle gear, 3-Lower gear
bit[4-5]: SWC: 2-Upper gear, 1-
Middle gear, 3-Lower gear
bit[6-7]: SWD: 2-Upper gear, 3-
Lower gear
byte [1] Right joystick
left/right
unsigned int8 Value range: [-100,100]
byte [2] Right joystick
up/down
unsigned int8 Value range: [-100,100]
byte [3] Left joystick
up/down
unsigned int8 Value range: [-100,100]
byte [4] Left
joystickleft/righ
t
unsigned int8 Value range: [-100,100]
byte [5] left knob VRA unsigned int8 Value range: [-100,100]
byte [6] Reserved -- 0x00
38
Ultrasonic Feedback Command
byte [7] Counting
verification
unsigned int8 0-255 cycle count
Command Ultrasonic Feedback Command
Node for sending
Node for
receiving
ID
Period
(ms)
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
342 50ms None
Data length 0×08
Byte Meaning Data type Note
byte
【
0
】
High order byte
of the distance
measured by No.
1 ultrasonic
sensor
int16 The distance unit is nm.
Positive value: valid data
-1: the sensor is offline.
-2: sensor data validation failed
-3: abnormal sensor data
-4: system exception
byte
【
1
】
Low order byte
of the distance
measured by No.
1 ultrasonic
sensor
byte
【
2
】
High order byte
of the distance
measured by No.
2 ultrasonic
sensor
int16
byte
【
3
】
Low order byte
of the distance
measured by No.
2 ultrasonic
sensor
39
byte
【
4
】
High order byte
of the distance
measured by No.
3 ultrasonic
sensor
int16
byte
【
5
】
Low order byte
of the distance
measured by No.
3 ultrasonic
sensor
byte
【
6
】
High order byte
of the distance
measured by No.
4 ultrasonic
sensor
int16
byte
【
7
】
Low order byte
of the distance
measured by No.
4 ultrasonic
sensor
Command Ultrasonic Feedback Command
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
343 50ms None
Data length 0×08
Byte Meaning Data type Note
40
byte
【
0
】
High order byte
of the distance
measured by No.
5 ultrasonic
sensor
int16 The distance unit is nm.
Positive value: valid data
-1: the sensor is offline.
-2: sensor data validation failed
-3: abnormal sensor data
-4: system exception
byte
【
1
】
Low order byte
of the distance
measured by No.
5 ultrasonic
sensor
byte
【
2
】
High order byte
of the distance
measured by No.
6 ultrasonic
sensor
int16
byte
【
3
】
Low order byte
of the distance
measured by No.
6 ultrasonic
sensor
byte
【
4
】
High order byte
of the distance
measured by No.
7 ultrasonic
sensor
int16
byte
【
5
】
Low order byte
of the distance
measured by No.
7 ultrasonic
sensor
41
Ultrasonic obstacle avoidance setting command
Feedback command of ultrasonic obstacle avoidance setting
byte
【
6
】
High order byte
of the distance
measured by No.
8 ultrasonic
sensor
int16
byte
【
7
】
Low order byte
of the distance
measured by No.
8 ultrasonic
sensor
Command Ultrasonic obstacle avoidance setting command
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Decision-making
and control unit
Node for the
chassis
0×451 None None
Data length 0×01
Byte Meaning Data type Note
byte[0] Set the
ultrasonic
obstacle
avoidance
unsigned int8 0×00
Disable ultrasonic obstacle
avoidance
0×01
Enable ultrasonic obstacle
avoidance
Command Feedback command of ultrasonic obstacle avoidance setting
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
42
The feedback data ofBMS for all batteries, and the details of the protocol are as follows
Node for the
chassis
Decision-making
and control unit
0×45A None None
Data length 0×01
Byte Meaning Data type Note
byte[0] Current status
of ultrasonic
obstacle
avoidance
unsigned int8 0×00 Ultrasonic obstacle avoidance
is disabled.
0×01Ultrasonic obstacle avoidance
is enabled.
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
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
43
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
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
44
The feedback data ofBMS for No.1 battery
byte [3] Warning Status
2
unsigned int8 BIT0: Charging overcurrent
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
0x363 500ms None
Data length 0x08
Byte Meaning Data type Note
byte [0] Battery SOC unsigned int8 Range 0~100
byte [1] Battery SOH 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
45
The feedback data ofBMS for No.2 battery
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
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x364 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
Command The feedback data of BMS
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
46
Drive-by-wire
chassis
Decision-
making and
control unit
0x365 500ms None
Data length 0x08
Byte Meaning Data type Note
byte [0] Battery SOC unsigned int8 Range 0~100
byte [1] Battery SOH 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
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x366 500ms None
47
The feedback data of BMS for No. 3 battery
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
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
0x367 500ms None
Data length 0x08
Byte Meaning Data type Note
byte [0] Battery SOC unsigned int8 Range 0~100
byte [1] Battery SOH unsigned int8 Range 0~100
48
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
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x368 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
49
The feedback data of BMS for No. 4 battery
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
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
0x369 500ms None
Data length 0x08
Byte Meaning Data type Note
byte [0] Battery SOC unsigned int8 Range 0~100
byte [1] Battery SOH 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
50
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
Node for
sending
Node for
receiving
ID Period
（
ms
）
Receive timeout
(ms)
Drive-by-wire
chassis
Decision-making
and control unit
0x36A 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
51
To facilitate users to upgrade the firmware ofthe4WDchassis and bring customers a better
experience, the 4WD chassis 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
Songling CAN debugging module X 1
micro USB cable X 1
the 4WDchassisX 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.
3.3Firmware Upgrade
52
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.
53
ROS (Robot Operating System) provides some standard operating system services, such as
hardware abstraction, low-level device control, implementation of commonly used functionality,
message-passing between processes, and package management. ROS is based on a graph
architecture, where processing takes place in nodes that may receive, post, and multiplex various
information (such as sensor data, control, state, planning, and other messages). Currently ROS
mainly supports UBUNTU OS.
Development Preparation
Hardware Equipment
CANlight CANcommunication module X1
Laptop X1
AGILEX Ranger mobile robot chassis X1
Paired remote control FS-i6s for the AGILEX Ranger X1
Circular connector on the rear of the AGILEX Ranger X1
Tested Development Environment
Ubuntu 18.04
3.4 RANGER use manual for ROS
●
●
●
●
●
●
54
ROS
Git
Hardware Connection and Preparation
Lead out the CAN cable from the top aviation plug or 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 chassis of the mobile robot and check whether the
emergency stop switches on both sides are released;
Connect CAN_TO_USB to the laptop's USB port. The connection diagram is shown in Figure
3.4.
Figure 3.4 The CAN wiring diagram
ROS Installation and Environment Setup
Please refer to http://wiki.ros.org/kinetic/Installation/Ubuntu for details
Test the Communication between CANABLE hardware and CAN
Set the CAN-TO-USB adapter
Enable the gs_usb kernel module
sudo modprobe gs_usb
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 RANGER and the RANGER has been
powered on, the command below can be usedto monitor the data from the RANGER.
candump can0
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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 libasio-dev
$ sudo apt install ros-$ROS_DISTRO-teleop-twist-keyboard
Clone and compile the bunker_ros source code
$ cd ~/catkin_ws/src
$ git clone --recursive https://github.com/agilexrobotics/ugv_sdk.git
$ git clone https://github.com/agilexrobotics/ranger_ros.git
$ cd ..
$ catkin_make
Reference
：
https://github.com/agilexrobotics/bunker_ros
Start the ROS node
Start the base node
roslaunch ranger_bringup ranger_minimal.launch
Note that the usb_to_can module equipped with Songling needs to be enabled before starting.
The enabling command is as follows: rosrun ranger_bringup bringup_can2usb.bash. This
command only needs to be executed once each time the usb_to_can module is powered on.
Run the keyboard_control node
roslaunch ranger_bringup ranger_teleop_keyboard.launch
Pay attention to the terminal printout and use the designated keys to control the ranger
movement.
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.
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*_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
Taking the center of the vehicle body as the coordinate origin, facing forward is the positive
direction of the x-axis, facing left is the positive direction of the y-axis, and facing upward is the
positive direction of the z-axis.
The vehicle maintenance
When the tires are severely worn, please replace them in time.
Battery maintenance
If the battery is not used for a long time, please don't forget to charge it every 2 to 3 months.
3.5 The vehicle body coordinate system
4 Maintenance Instructions
4.1 Maintenance method
5 Product Size
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