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BUNKER RRO 2.0 User Manual
2
BUNKER PRO 2.0
AgileXRoboticsTeam
User ManualV.1.0.0 2025 05
Document version
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 requirements established in the standards and specifications of the country where the
robot is installed.
It is the responsibility of BUNKER PRO 2.0's integrators and end customers to ensure
compliance with relevant specifications and effective laws and regulations, so as to ensure that
Safety Information
No. Version Date Redactor Reviewer Notes
1 V.1.0.0 2025/5 Dennis first draft
3
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 -20
℃
~60
℃
.
If the vehicle does not have an individually customized IP protection level, the vehicle's
waterproof and dustproof capabilities are IP67.
Inspection
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.
Ensure the emergency stop switch is released before operation.
Operation
Make sure the surrounding area is relatively clear during operation
Remote control within sight range
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The maximum load capacity of BUNKER PRO 2.0 is 120KG. When using it, make sure the
payload does not exceed 120KG.
When installing external extensions on BUNKER PRO 2.0, confirm the position of the center
of mass of the extension to ensure it is at the center of rotation
Please charge the device promptly when the voltage drops below
72V
.
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
Ensure the ambient temperature is above
0 °C
during charging.
If the device malfunctions, stop using it immediately to prevent further damage or injury.
In the event of a malfunction, contact qualified technical personnel. Do not attempt to repair
it yourself.
Maintenance
Regularly check the tension of the suspension tracks. Track tensioning is required every 150
–
200 hours of operation.
After 500 hours of operation, inspect and tighten all bolts and nuts on the chassis. Any
looseness must be corrected immediately.
To maintain battery capacity, store the battery with a charge, and recharge it periodically
even when not in use for extended periods.
ATTENTION
Important Notes for Using and Developing BUNKER PRO 2.0
Battery Precautions
The battery of the BUNKER PRO 2.0 is not fully charged when it leaves the factory. The
current battery level can be read via the voltage display panel on the rear of the chassis or
through the CAN bus interface.
Do not wait until the battery is fully depleted before charging. If the rear voltage display
shows below 48 V, please charge the battery promptly.
Static storage conditions: The recommended storage temperature is -10 °C to 45 °C. When
not in use, the battery should be charged and discharged approximately once a month, then
stored in a fully charged state. Do not throw the battery into fire, heat it, or store it in high-
temperature environments.
Charging: Always use the designated lithium battery charger provided with the product. Do
not charge the battery at temperatures below 0 °C, and do not use non-original batteries,
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5
power supplies, or chargers.
Environmental Usage Guidelines
The operating temperature range for BUNKER PRO 2.0 is -20 °C to 60 °C. Do not operate
the unit outside of this temperature range.
The acceptable relative humidity is 30% to 80%. Avoid environments with corrosive or
flammable gases, or near combustible materials.
Keep the unit away from heating elements, such as heaters or large wire-wound resistors.
Recommended operating altitude: below 1000 m.
Recommended daily temperature variation: no more than 25 °C.
Regularly inspect and maintain the track tensioner system.
Electrical Extension Guidelines
The rear expansion power interface supports a maximum current of 20 A and total power not
exceeding 1440 W.
Safety Precautions
If you have any questions during operation, please refer to the user manual or consult
qualified technical personnel.
Always assess the operating environment before using the device to avoid accidental injury
caused by misuse.
In case of emergency, press the emergency stop button to power down the system.
Do not modify the internal structure of the device without official authorization or technical
support.
Other Notes
During transport or setup, do not drop or invert the device.
Unauthorized disassembly by untrained personnel is strictly prohibited.
BUNKER RRO 2.0 User Manual 1
Safety Information 2
CONTENTS 9
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CONTENTS
6
1 Introduction to BUNKER PRO 2.0 11
1.1
Product List 11
1.2
Performance parameters 12
1.3 Required for development 14
2 The Basics 14
2.1 Description of electrical interface 15
2.2 Instructions on remote control 16
2.3 Instructions on control demands and movements 18
3 Getting Started 19
3.1 Use and operation 20
3.2 Charging 22
3.3 Development 22
3.3.2 CAN Cable Connection 32
3.3.3 Implementation of CAN 33
3.4 Firmware upgrades 33
3.5 BUNKER ROS Package Use Example 38
4.Q&A 41
5. Product Dimensions 42
5.1 External Dimension Diagram 42
5.2 Top Expansion Bracket Dimensions Diagram 44
BUNKER PRO 2.0
is a versatile tracked mobile chassis designed for a wide range of industrial
and specialized applications. It features
responsive and intuitive control
, a
large development
space
, and compatibility with various custom solutions across multiple industries. With its
independent suspension system
,
heavy-duty shock absorption
,
strong climbing ability
, and
1 Introduction to BUNKER PRO 2.0
7
stair-climbing capability
, it delivers excellent adaptability in challenging environments. BUNKER
PRO 2.0 is ideal for the development of special-purpose robots in areas such as
inspection and
exploration
,
rescue and explosive ordnance disposal (EOD)
,
specialized filming
, and
tactical
transportation
, providing a reliable and robust
mobility platform
for robotic solutions.
0.1 Product List
1.2
Performance parameters
Name Quantity
BUNKER PRO 2.0robot body 1 PCS
Battery charger(AC 220V) 1 PCS
Aviation plug male
（
4Pin
）
1 PCS
USB to CAN communication module 1 PCS
FS remote control (optional) 1 PCS
Parameter Types Items Parameter
Mechanical specifications L × W × H (mm) 1080 x 785 x 470
Wheelbase (mm) 575
Track Width(mm) 150
Curb weight (kg) 225
Battery Type Lithium Iron Phosphate
Battery parameters 72V 50AH
Power drive motor 2x1800W brushless servo
motors
Steering Track type differential
steering
8
Suspension Type Christie Suspension &
Matilda Four-Wheel Balanced
Suspension
Drive Motor Gear Ratio 1:7.5
Drive Motor Sensor 2500 PPR Optical
Incremental Encoder
Performance parameters Maximum Loaded Speed
(m/s)
1.5
Minimum turning radius (mm) Can turn in place
Maximum Climbing Ability
(Unloaded) (°)
30° (Capable of stair
climbing)
Maximum obstacle crossing
（
mm
）
180
Maximum Ground clearance
(mm)
120
Rated Endurance Time (h) 2.5 h (Fully loaded on
concrete)
3.5 h (Unloaded on concrete)
Maximum distance (km) 15KM (full loaded)
20KM (Unloaded)
Charging time (h) 2.5
Working temperature (
℃
) -20~60
℃
Braking Distance
(Unloaded, friction coefficient
0.5) (m)
0.7
IP Grade IP67
Control RC transmitter 2.4G/extreme distance 200M
System interface CAN
9
FS RC transmitter is provided (optional) in the factory setting of BUNKER PRO 2, which allows
users to control the chassis of robot to move and turn; CAN and RS232 interfaces on BUNKER
PRO 2 can be used for user
’
s customization.
This section provides a brief introduction to the BUNKER PRO 2 mobile robot platform. It is
convenient for users and developers to have a basic understanding of BUNKER PRO 2 chassis.
The rear electrical interface is shown in
Figure 2.1
, with the components labeled as follows:
Q1
: Aviation connector for
CAN
communication and
60
–
80 V power input
Q2
:
Power switch
Q3
:
Charging port
Q4
:
Antenna
Q5
:
Emergency stop switch
Q6
:
Status indicator light
1.3 Required for development
2 The Basics
2.1 Description of electrical interface
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Control mode Remote control Control
Command control mode
10
Figure 2.1
The definitions of Q1 communication and power interface as shown in Figure 2-2.
Figure 2.2 Pin definition figure of tail aviation expansion interface
Status Indicator Light Meaning:
Pin NO.
Pin type
Definition
Remark
1
Power
VCC
Power positive,
voltage range 60-80V,
maximum current 20A
2
Power
GND
Power negative
3
Can
Can_H
CAN bus high
4
Can
Can_L
CAN bus low
11
FS RC transmitter is an optional accessory for the
BUNKER PRO 2.0
and can be selected by
users based on their specific needs. The remote control allows for easy and intuitive operation of
the BUNKER PRO 2.0 universal tracked chassis. This model adopts a
left-hand throttle design
.
The button layout and functionality are illustrated in
Figure 2.3
, with definitions as follows:
SWA, SWB, SWC, SWD
: Function switches
SWD
: Currently unused
SWB
: Mode selection switch
Top position
: Command control mode
Middle position
: Remote control mode
S1
: Throttle control (forward and backward movement)
S2
: Rotation control
POWER
: Power button; press and hold to power on
Important Note:
When powering on the remote controller, ensure that
SWA, SWB, SWC, and SWD
are all in the
top position
to avoid initialization errors.
2.2 Instructions on remote control
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○
○
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■
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Color
State
Meaning
Green Solid On
Battery level > 50%
Yellow Solid On
Battery level between 25%
–
50%
Red Solid On
Battery level between 10%
–
25%
Slow Blink
Battery level < 10%
Fast Blink
ERROR
–
System fault detected
12
Figure 2.3 Schematic Diagram of Buttons on FS RC transmitter
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)
13
A reference coordinate system can be de
fi
ned and
fi
xed on the vehicle body as shown in Figure
2.4 in accordance with ISO 8855.
Figure 2.4 Schematic Diagram of ReferenceCoordinate System for Vehicle Body
As shown in
Figure 2.4
, the
BUNKER PRO 2.0
chassis is aligned such that its body is
parallel to
the X-axis
of the established reference coordinate system.
Remote Control Mode:
S1 Joystick (Forward/Backward Movement)
:
Pushing
S1 forward
→
Moves the chassis in the
positive X direction
.
Pushing
S1 backward
→
Moves the chassis in the
negative X direction
.
The further S1 is pushed, the greater the linear speed:
Max forward
→
Maximum speed in +X
Max backward
→
Maximum speed in -X
S2 Joystick (Rotational Movement)
:
Pushing
S2 left
→
Rotates the chassis
counterclockwise
, from the
+X axis toward the
+Y axis
.
Pushing
S2 right
→
Rotates the chassis
clockwise
, from the
+X axis toward the -Y axis
.
The more S2 is pushed, the greater the angular velocity:
Max left
→
Maximum counterclockwise rotation
Max right
→
Maximum clockwise rotation
Command Control Mode:
A
positive linear velocity
indicates movement in the
+X direction
.
2.3 Instructions on control demands and movements
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○
■
■
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○
○
○
■
■
●
14
A
negative linear velocity
indicates movement in the
-X direction
.
A
positive angular velocity
represents
counterclockwise rotation
(from +X to +Y).
A
negative angular velocity
represents
clockwise rotation
(from +X to -Y).
This section introduces the basic operation and development of the BUNKER platform using
the CAN bus interface.
Inspection
Chassis Status Check
:
Inspect the chassis for any visible abnormalities. If any issues are found, please contact
after-sales support.
Initial Use Confirmation
:
Check the rear electrical panel and ensure the
Q2 (Power Switch)
is in the
released
state. If
it is pressed, press and release it again to return it to the released state.
Startup Procedure
Power On
:
Press the
power switch (Q2)
on the rear electrical panel. If functioning normally, the power
indicator light will turn on, and the
voltage display
will show the current battery voltage.
Battery Voltage Check
:
Normal voltage range:
60
–
80 V
If the voltage drops below
55 V
, the
BUNKER PRO 2.0
may not operate properly.
Shutdown Procedure
Press the
power switch
to cut off the power supply.
Remote Control Operation
After powering on the
BUNKER PRO 2.0
, turn on the
remote controller
.
Switch to
remote control mode
to control the movement of the robot platform using the
remote.
Expansion
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3 Getting Started
3.1 Use and operation
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The
BUNKER PRO 2.0
chassis supports
secondary development
on the top platform.
It features
standard aluminum profile rails
and
T-slot nuts
for mounting.
For optimal balance, mount expansions
near the rotation center
of the platform.
The chassis
center of gravity
is shown in
Figure 2.5
.
Figure3.1 Chassis Center of Gravity Diagram
The BUNKER PRO 2.0 comes equipped with a
standard charger
by default, which meets basic
charging requirements.
Follow the steps below to charge the vehicle:
Ensure the BUNKER PRO 2.0 chassis is
completely powered off
.
Before charging, confirm that the
Q2 (Power Switch)
on the rear electrical panel is in the
OFF
position.
Plug the charger into the
Q3 charging port
on the rear electrical control panel.
Connect the charger to an AC power source and switch on the charger to begin the charging
process.
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3.2 Charging
16
During charging,
no indicator lights
will appear on the chassis.
The charging status must be confirmed via the
indicator on the charger itself
.
BUNKER PRO 2.0 provides a
CAN interface
for users to perform secondary development and
custom control.
The system follows the
CAN 2.0B standard
, with a
baud rate of 500Kbps
.
The
data frame format
adopts the
MOTOROLA format
.
Through the external CAN bus interface, users can send commands to control the
linear velocity
and
angular velocity
of the chassis.
The BUNKER PRO 2.0 will also provide
real-time feedback
on its motion status and chassis
condition.
The communication protocol includes:
System Status Feedback Frames
,
Motion Control Feedback Frames
,
Command Frames
,
System Status Feedback Frames
provide:
Current chassis status, Control mode status, Battery voltage status, Error or fault information
Refer to
Table 3.1
for the structure of the system status feedback frame.
Table 3.1
—
BUNKER PRO 2.0 Chassis System Status Feedback Frame
Table 3.1 Bunker Chassis Status Feedback Frame
3.3 Development
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
200ms
None
Data length
0x08
Position
Function
Data type
Description
17
Table 3.2 Description of Failure Information
byte [0]
Current status of
vehicle body
unsigned int8
0x00 Normal condition
0x01 Emergency stop
0x02 System Error
byte [1]
Mode control
unsigned int8
0x00 Stand by
0x01 CAN command control
0x03 Remote control
byte [2]
byte [3]
Battery voltage
upper 8 bits
Battery voltage
lower 8 bits
unsigned int16
Actual voltage × 10(with an accuracy of
0.1V)
byte [4]
Reserve -
0x00
byte [5]
Failure Information
unsigned int8
Refer to Table3.2 Failure Information
Description
byte [6]
Reserve -
0x00
byte [7]
Count Parity bit
(Count)
unsigned int8
0~255 Loops counting. Count is
incremented once
while single command sent every time
Description of Failure Information
Byte
Bit
Description
byte [5]
bit [0]
Low-voltage failure
bit [1]
Low-voltage warning
bit [2]
Remote control signal lost
protection(0: Normal 1: Lost
signal)
bit [3]
Reserve, default value 0
bit [4]
Drive 2 communication failure(0:
Normal 1: Failure)
18
The motion control feedback frame includes the feedback of linear and angular speed of chassis.
The specific protocol details are shown in Table 3.3.
The mode setting frame is used to configure the control interface of the terminal. The specific
protocol details are shown in Table 3.4.
bit [5]
Drive 3 communication failure(0:
Normal 1: Failure)
bit [6]
Reserve, default value 0
bit [7]
Emergency Stop (0: Normal, 1:
Emergency Stop Triggered)
Command Name Movement Control Feedback Frame
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
byte [0]
byte [1]
Moving speed
upper 8 bits
Moving speed
lower 8 bits
signed int16
Actual speed X 1000 (with an accuracy of
0.001m/s)
byte [2]
byte [3]
Rotation speed
upper 8 bits
Rotation speed
lower 8 bits
signed int16
Actual speed X 1000 (with an accuracy of
0.01°)
byte [4]
Reserved
-
0x00
byte [5]
Reserved
-
0x00
byte [6]
Reserved
-
0x00
byte [7]
Reserved
-
0x00
19
Note [1] Control Mode Description
When the
BUNKER PRO 2.0
is powered on and the remote controller is not turned on, the
system defaults to
standby mode
. It must be switched to
command mode
before any motion
control commands can be executed. If the remote controller is turned on, it takes the highest
control priority and overrides command inputs. Even when the remote is set to command mode,
a
control mode setting command
must still be sent first before the system will respond to speed
commands.
The
motion control frame
includes linear velocity and angular control commands. The detailed
protocol is described in
Section 3.5
.
Command Name: Movement Control mode Frame
Sending node
Receiving node
ID
Cycle
（
ms
）
Receive-
timeout(ms)
Decision-making
control unit
Steer-by-wire
chassis
0x421
20ms
500m/s
Data length
0x01
Location
Function
Data type
Description
byte [0] CAN Command
Mode
Unsigned int8
0x00 Stand by
0x01 CAN Command mode
By default, the device enters standby
mode when powered on.
Command Name
Motion Command Control Frame
Sending node
Receiving node
ID
Cycle(ms)
Receive-
timeout(ms)
Decision-making
control unit
Steer-by-wire
chassis
0x111
20ms
500ms
Data length
0x08
Position
Function
Data type
Description
20
[Note] Sample data, the following data is only for testing. (Set the control mode to command
mode before testing)
1.The chassis moves forward at 0.15m/s.
2.The chassis steering 10°
The
Status Reset Frame
is used to clear system errors. Its specific protocol details are shown in
Table 3.6
.
Table 3.6
—
Status Reset Frame
byte [0]
byte [1]
Linear velocity
upper 8 byte
Linear
velocitylower 8
byte
Signed int16
Linear moving speed mm/s(unit)
Range[-1850,1850]
byte [2]
byte [3]
Linear speed
percentage Angular
speed percentage
Signed int16
Rotation angular speed 0.001rad/s(unit)
Range [-1000,1000]
byte [4]
Reserved
—
0x00
byte [5]
Reserved
—
0x00
byte [6]
Reserve
—
0x00
byte [7]
Reserve
—
0x00
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
0x03
0xe8
0x00
0x00
0x00
0x00
Command
Status Clear Frame
Sending node
Receiving node
ID
Cycle
（
ms
）
Receive-
timeout(ms)
21
In addition to the feedback of chassis status, there are also feedback data from the motors and
sensors.
Table 3.7 Motor Rotational Speed Feedback Frame
Key Unit
Steer-by-wire
chassis
0x441
None
None
Data length
0x01
Location
Function
Data type
Description
byte [0] Failures clear
command
Unsigned int8
0x00 Clear all failures
0x01 Clear motor1 failures
0x02 Clear motor2 failures
Command
High-Speed Feedback Frame of Motor Driver
Sending node
Receiving node
ID
Cycle
（
ms
）
Receive-
timeout(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x252~0x253
20ms
None
Data length
0x08
Position
Function
Data type
Description
byte [0]
byte [1]
Motor rotational
speed upper 8bits
Motor rotational
speed lower 8bits
signed int16
Current Motor Speed
(unit: RPM)
byte [2]
byte [3]
Motor rotational
speed upper 8bits
Motor rotational
speed lower 8bits
signed int16
Current Motor Current
(unit: 0.1 A)
22
Table 3.8 Motor Temperature, Voltage, and Status Feedback
byte [4]
byte [5]
byte [6]
byte [7]
Most Significant
Byte
Second Most
Significant Byte
Second Least
Significant Byte
Least Significant
Byte (LSB)
signed int32
Current Motor Position
(unit: pulse
count)
Command
Low-Speed Feedback Frame of Motor Driver
Sending node
Receiving node
ID
Cycle
（
ms
）
Receive-
timeout(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x262~0x263
20ms
None
Data length
0x08
Position
Function
Data type
Description
byte [0]
Driver Voltage
upper 8 bits
unsigned int16
Current Driver Voltage(Unit:
0.1 V
)
byte [1]
Driver Voltage
lower 8 bits
byte [2]
Drive temperature
upper 8 bits
signed int16
Unit: 1
℃
byte [3]
Drive temperature
lower 8 bits
byte [4]
Moto Temperature
signed int8 Unit: 1
℃
byte [5]
Drive status
unsigned int8
Refer to Table 3.9 for detail
byte [6]
Reserved
-
0x00
byte [7]
Reserved
-
0x00
23
Table 3.9 Drive Status Byte
Table 3.10 Odometer Feedback Frame
Byte
Bit
Description
byte [5]
bit [0]
Low-voltage (0: Normal 1: Low)
bit [1]
Motor over- temperature (0:
Normal 1: Over-temperature)
bit [2]
Overcurrent Status (0: Normal 1:
Overcurrent detected)
bit [3]
Overtemperature Status (0:
Normal 1: Overtemperature
detected)
bit [4]
Sensor Status (0: Normal 1:
Sensor fault)
bit [5]
Driver Error Status (0: Normal 1:
Error present)
bit [6]
Driver Enable Status (0: Enabled 1:
Disabled)
bit [7]
Reserved
Command Name
Odometer Feedback Command
Sending node
Receiving node
ID
Cycle
（
ms
）
Receive-
timeout(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x311
20ms
None
Data length
0x08
Location
Function
Data type
Description
24
Table 3.11 Remote Control Information Feedback Frame
byte [0]
byte [1]
byte [2]
byte [3]
Left wheel
odometer highest
bit
Left wheel
odometer second
highest bit
Left wheel
odometer second
lowest bit
Left wheel
odometer lowest
bit
Signed int 32
Left wheel odometer feedback (Unit: mm)
byte [4]
byte [5]
byte [6]
byte [7]
Right wheel
odometer highest
bit
Right wheel
odometer second
highest bit
Right wheel
odometer second
lowest bit
Right wheel
odometer lowest
bit
Signed int 32
Right wheel odometer feedback
(Unit: mm)
Command Name
Remote Control Information Feedback Command
Sending node
Receiving node
ID
Cycle
（
ms
）
Receive-
timeout(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x241
20ms
None
Data length
0x08
25
Table 3.12 Battery BMS Data Feedback
Location
Function
Data type
Description
byte [0]
SW feedback
Unsigned int8
bit[0-1]: SWA
：
2- Up 3-Down
bit[2-3]: SWB : 2-Up 1-Middle 3-Down
bit[4-5]: SWC : 2-Up 1-Middle 3-Down
bit[6-7]: SWD
：
2-Up 3-Down
byte [1]
Right joystick left
and right
Signed int8
Range[-100,100]
byte [2]
Right joystick up
and down
Signed int8
Range[-100,100]
byte [3]
Left joystick up
and down
Signed int8
Range[-100,100]
byte [4]
Left joystick left
and right
Signed int8
Range[-100,100]
byte [5]
Left knob VRA
Singed int8
Range[-100,100]
Command Name
Remote Control Information Feedback Command
Sending node
Receiving node
ID
Cycle
（
ms
）
Receive-
timeout(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x361
500ms
None
Data length
0x08
Location
Function
Data type
Description
byte [0]
Battery SOC
Unsigned Int8
Range: 0~100
byte [1]
Battery SOH
Unsigned Int8
Range: 0~100
byte [2]
byte [3]
Battery Voltage
Unsigned Int16
Unit: 0.01 V (High byte first)
26
Table 3.13 Battery BMS Data Feedback
3.3.2 CAN Cable Connection
byte [4]
byte [5]
Battery Current
Unsigned Int16
Unit: 0.1 A (High byte first)
byte [6]
byte [7]
Unsigned Int16
Unit: 0.1
℃
(High byte first)
Command Name
Sending node
Receiving node
ID
Cycle
（
ms
）
Receive-
timeout(ms)
Steer-by-wire
chassis
Decision-making
control unit
0x362
500ms
None
Data length
0x04
Location
Function
Data type
Description
byte [0]
Alarm Status 1
unsigned int8
BIT1: Overvoltage
BIT2: Undervoltage
BIT3: Overtemperature
BIT4: Undertemperature
BIT7: Discharge Overcurrent
byte [1]
Alarm Status 2
unsigned int8
BIT0
: Charge Overcurrent
byte [2]
Warning Status 1
unsigned int8
BIT1: Overvoltage
BIT2: Undervoltage
BIT3: Overtemperature
BIT4: Undertemperature
BIT7: Discharge Overcurrent
byte [3]
Warning Status 2
unsigned int8
BIT0: Charge Overcurrent
27
BUNKER PRO 2 ships with the vehicle and provides a male aviation plug as shown in Figure 3.2.
The definition of the wires is: yellow is CAN_H, blue is CAN_L, red is the positive power supply,
and black is the negative power supply.
Note: In the current BUNKER PRO2 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 3.2 Schematic diagram of aviation plug male connector
Correctly start the chassis of BUNKER PRO 2mobile 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, BUNKER 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.
In order to facilitate users to upgrade the
fi
rmware version used by BUNKER PRO 2and bring
customers a more complete experience, BUNKER PRO 2 provides a
fi
rmware upgrade hardware
interface and corresponding client software.
Upgrade Preparation
AgilexCAN debugging moduleX 1
3.3.3 Implementation of CAN
3.4 Firmware upgrades
28
Micro USB cableX 1
BUNKER PRO 2 chassisX 1
A computer (WINDOWS OS (Operating System))X 1
Upgrade Process
1.Plug in the USBTOCAN module on the computer, and then open the
AgxCandoUpgradeToolV1.3_boxed.exesoftware (the sequence cannot be wrong, first open the
software and then plug in the module, the device will not be recognized).
2.Click the Open Serialbutton, and then press the power button on the car body. If the
connection is successful, the version information of the main control will be recognized, as
shown in the figure.
3.Click the Load Firmware Filebutton to load the firmware to be upgraded. If the loading is
successful, the firmware information will be obtained, as shown in the figure
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.
Preparation
Hardware preparation
CANlight can communication module ×1
Thinkpad E470 notebook ×1
AGILEX BUNKER PRO 2 mobile robot chassis ×1
AGILEX BUNKER PRO 2remote control FS-i6s ×1
AGILEX BUNKER PRO 2 top aviation power socket ×1
Use example environment description
Ubuntu 18.04
ROS melodic
3.5 BUNKER ROS Package Use Example
31
Git
Hardware connection and preparation
Lead out the CAN wire of the BUNKER PRO 2 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 BUNKER PRO 2mobile 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
If the can-to-usb has been connected to the BUNKER PRO 2robot this time, and the car has
been turned on, use the following commands to monitor the data from the BUNKER PRO 2
chassis
32
candump can0
Please refer to:
[1]
https://github.com/agilexrobotics/agx_sdk
[2]
https://wi-ki.rdu.im/_pages/Notes/Embedded-System/Linux/-can-bus-in-linux.html
AGILEX BUNKER ROS PACKAGE download and compile
Download ROS dependency packages
$ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard
Clone and build 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
Please refer to:
https://github.com/agilexrobotics/bunker_ros
Start the ROS node
Start the based node
roslaunch bunker_bringup bunker_robot_base.launch
roslaunch bunker_bringup bunker_teleop_keyboard.launch
Start the keyboard remote operation node
roslaunch bunker_bringup bunker_teleop_keyboard.launch
*_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 PRO 2 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
33
Q: BUNKER PRO 2.0 starts up normally, but the robot does not move when using the remote
controller?
A:
First, verify whether the power switch has been released (Q2 on the rear electrical panel). Then,
check if the mode selection switch (top-left of the remote controller) is set to the correct control
mode.
Q: Remote control works normally and the chassis feedback (status and motion data) is
received correctly, but the vehicle does not respond to CAN control commands or mode switch
instructions?
A:
If the remote controller works correctly and chassis feedback is received properly, this indicates
the motion control and CAN communication are functioning. Please verify whether the control
mode has been successfully switched to CAN mode before sending control commands.
Q: When using CAN bus communication, the chassis feedback is normal, but the robot does
not respond to the control commands?
A:
BUNKER PRO 2.0 has a built-in communication protection mechanism. If the chassis receives a
CAN control frame and does not receive a subsequent control frame within
500 ms
, it will enter a
communication protection state
, and the robot will stop (speed = 0). Therefore, control
commands from the upper computer
must be sent cyclically
.
4.Q&A
5. Product Dimensions
5.1 External Dimension Diagram
34
35
5.2 Top Expansion Bracket Dimensions Diagram
36
