AgileX TRACER MINI User Manual
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AgileX TRACER MINI User Manual

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TRACER MINI User Manual
Document version
No.
Version
1
V.2.0.0
2
V.2.0.1
AgileX Robotics Team
User Manual   V.2.0.1 2023.09
Date
Edited by
2023/09/02
谢 亲
2023/09/08
TRACER
Reviewer
义
1 / 3 7
Notes
●
Removed RS232 support
●
Add rendering
●
Format adjustment
●
Align the cart parameter
list

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  • Page 1 TRACER MINI User Manual TRACER AgileX Robotics Team User Manual   V.2.0.1 2023.09 Document version Version Date Edited by Reviewer Notes ● Removed RS232 support V.2.0.0 2023/09/02 ● Add rendering 谢 亲 ● Format adjustment ● Align the cart parameter V.2.0.1 2023/09/08 义 list 1 / 3 7...
  • Page 2 If you have any questions about use, please contact us support@agilex.ai all assembly instructions and guidelines in other chapters of this manual must be observed and implemented,This is very important.
  • Page 3 ● Remote control operation, choose relatively open area to use, the car itself is without any automatic obstacle avoidance sensor. ● Used at ambient temperatures of-10℃ ~ 45℃. ● If the vehicle does not have a separate IP protection level, the vehicle's waterproof and dustproof capabilities are ip22.
  • Page 4 This part contains some points that should be paid attention to when using and developing TRACER MINI. Battery precautions ● The battery supplied with SCOUT MINI is not always fully charged in the factory setting, but its specific power capacity can be displayed on the voltmeter at tail end of SCOUT MINI chassis or read via CAN bus communication interface.
  • Page 5 ● When the system detects that the battery voltage is lower than the safe voltage class, external power supply extensions will be actively switched to. Therefore, users are suggested to notice if external extensions involve the storage of important data and have no power-off protection. Safety precautions ●...

  • Page 6: Table Of Contents

    3.2 Charging 3.3 Development 3.3.1 CAN Interface Protocol 3.3.2 CAN line connection 3.3.3 Realization of CAN command control 3.4 Firmware upgrade 3.5 TRACER MINI ROS Package Usage Example 4 Q&A 5 Product Dimensions 5.1 Illustrations of product outline dimensions 6 / 3 7...

  • Page 7: Tracer Mini Introduction

    flexibly indoors. Stereo camera, laser radar, GPS, IMU, manipulator and other equipment can be installed to TRACER as extension application. TRACER MINI can be applied to unmanned inspection, scientific research, logistics and other fields.
  • Page 8 Battery Type Lithium battery 24v 15Ah Electric motor DC brushless 2X150W Driver form Independent Driver Swing arm independent Suspension form suspension To turn to Differential steering Servo brake/safety touch Safety equipment edge No-load maximum speed 1.67 (m/s) Minimum turning radius Can turn in situ Performance parameter Code disk parameters...
  • Page 9 Curb weight (kg) 18~21 Battery Type Lithium battery Battery parameters 24V 15Ah Power drive motor DC brushless 2X150W Steering drive motor Parking mode Servo brake/safety touch edge Steering Differential steering Suspension form Swing arm independent suspension Steering motor reduction ratio Steering motor encoder Drive motor reduction ratio Drive motor sensor...

  • Page 10: Development Requirements

    CAN interface. 2 Basic introduction The Basics This section will give a basic introduction to the TRACER MINI mobile robot chassis, so that users and developers can have a basic understanding of the TRACER chassis. As shown in Figure 2.1 and 2.2 below, the overview view of the entire mobile robot chassis is displayed.

  • Page 11: Status Indication

    Figure 2.1 front overview view Figure 2.2 tail overview view The TRACER MINI adopts the modular and intelligent design concept as a whole, and the powerful DC hub motor makes the TRACERMINI robot chassis development platform move flexibly on the indoor flat ground. The front end of the car body is installed with a safe edge, so that in the event of an emergency,Cut off...

  • Page 12: Electrical Interface Description

    "drop-drop- drop" to prompt. When low battery voltage is detected At 21.5V, TRACER MINI will actively cut off Low voltage alarm external extended power supply and driver power supply to prevent battery damage.

  • Page 13: Remote Control Description

    Fusi remote controller is an optional accessory for TRACER MINI products. Customers can select it according to actual needs, and it can be easily controlled by using the remote controller. TRACER MINI universal robot chassis, we use the design of left-hand throttle in this product. See Figure 2.6 for its definition and functions.

  • Page 14: Control Instruction And Motion Description

    Figure 2.6 the key diagram of Fusi remote controller Remote control interface description: Tracer : 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) 2.4 control instruction and motion description 1 4 / 3 7...

  • Page 15: Use And Develop Getting Started

    ISO 8855 standard. Figure 2.7 schematic diagram of body reference coordinate system As shown in 2.7, the TRACER MINI body is parallel to the x axis of the established reference coordinate system. In the control mode of the remote controller, when the rocker S1 of the remote controller pushes forward, it moves in the positive direction of X;...

  • Page 16: Use And Operation

    This section mainly introduces the basic operation and use of TRACER MINI platform, and how to carry out secondary development of car body through external CAN port and CAN bus protocol. 3.1 use and operation Check ● Check the car body status. Check whether the car body is obviously abnormal; If yes, please contact after-sales support;...

  • Page 17: Can Interface Protocol

    3.3.1 CAN Interface Protocol In TRACER MINI product, the CAN communication standard adopts CAN2.0B standard, the communication baud rate is 500K, and the packet format adopts MOTOROLA format. The external CAN bus interface CAN control the linear velocity of chassis movement and the angular velocity of rotation;TRACER will feed back the current motion status information and the status...
  • Page 18 Battery voltage byte [3] low eight-bit Eight-bit fault byte [4] information For more information, see [fault unsigned int16 information description]. Low eight-digit byte [5] fault information byte [6] Retain 0X00 byte [7] count unsigned int8 0~255 loop count Table 3.2 fault information description table Fault information description bit [0] Retain...
  • Page 19 bit [7] Retain The motion control feedback frame instruction includes the motion linear velocity and motion angular velocity feedback of the current car body. The specific content of the protocol is shown in Table 3.3. Table 3.3 Motion Control feedback frame Instruction name Motion control feedback instruction Receive timeout...
  • Page 20 The control frame includes the linear velocity control opening and angular velocity control opening. The specific protocol content is shown in Table 3.4. Table 3.4 Motion Control Command control frame Instruction name Control Instruction Receive timeout Sending node Receive node Period (ms) (ms) Decision control...
  • Page 21 Instruction name Light control frame Receive timeout Sending node Receive node Period (ms) (ms) Decision control Wire control 0x121 25ms None unit chassis Data length 0x08 Location Function Data type Explain Light control 0x00 control instruction is invalid. byte [0] unsigned int8 enable sign 0x01 light control enabled...
  • Page 22 Command Name Light Control Feedback Frame Receiving Timeo Sending Node Receiving Node Cycle ms ut (ms) Wire-controlled Decision control u 0x231 20ms None chassis Data length 0x08 Location Function Data type Description 0x00 Invalid control command Current light contr byte [0] unsigned int8 ol enabling sign 0x01 Light control enabling 0x00 Normally off 0x01 Normally open 0x02 Breathing light mode byte [1] Front light mode unsigned int8 0x03 Customer- defined brightness Current front light [0,100], where 0 is not bright, 100 is ...
  • Page 23 Command name Control mode setting command Receiving Timeo Sending node Receiving node Cycle ms ut (ms) Wire-controlled Decision control  0x421 None None chassis unit Data length 0x01 Position Function Data type Description 0x00 Standby mode 0x01 CAN command control Control mode mode[1] byte [0] unsigned int8 Enter standby mode by default after  power on Note[1] Control mode description The default control mode is the standby mode, and you need to switch to the command mode to send the motion control command.
  • Page 24 Position Function Data type Description 0x00 Clear all errors byte [0] Control mode unsigned int8 0x01 Clear motor 1 error 0x02 Clear motor 2 error Table 3.9 Odometer feedback frame description table Command Odometer feedback command name Receiving Timeo Sending node Receiving node Cycle ms ut (ms) Wire-controlled Decision control unit 0x311 None None chassis Data length 0x08 Position Function Data type Description...
  • Page 25 The second highest bit o byte [5] fthe right wheel odomete The second lowest bit of byte [6] the right wheel odometer The lowest bit of the righ byte [7] t wheel odometer In addition to the feedback of the state information, the feedback information of the chassis also includes motor information. The following frame feedback is the motor information feedback: in the chassis, the corresponding motor numbers of the two motors are as shown in the following figure: Figure 3.0 Motor Feedback ID Schematic Table...
  • Page 26 Decision control Wire-controlled 0x251~0x252 20ms None unit chassis Data length 0x08 Position Function Data type Description The upper eight bit byte [0] s of motor speed Current Motor speed signed int16 unit RPM The lower eight bits byte [1]   of motor speed The upper eight bit byte [2] s of motor 0x00 current The lower eight bits byte [3]   of motor 0x00 current The current position byte [4]...
  • Page 27 The current position byte [7] ofthe motor is the  lowest Table 3.11 Motor low-speed information feedback frame Command name Motor low-speed information feedback frame Receiving Timeo Sending node Receiving node Cycle ms ut (ms) Decision control Wire-controlled 0x261~0x262 100ms None unit chassis Data length 0x08 Position Function Data type Description byte [0] Reserve 0x00 byte [1] Reserve 0x00 byte [2] Reserve 0x00 byte [3] Reserve...

  • Page 28: Can Line Connection

    Reserved 3.3.2 CAN line connection TRACER MINI provides an aviation plug male as shown in Figure 3.2. For the definition of the line, please refer to Table 3.2. 3.3.3 Realization of CAN command control Start the TRACER MINI mobile robot chassis normally, turn on the FS remote control, and then...

  • Page 29: Firmware Upgrade

    3.4 Firmware upgrade In order to facilitate users to upgrade the firmware version of TRACER MINI and bring to customers more perfect experience, TRACER MINI provides the hardware interface for firmware upgrade and the corresponding client software. Upgrade Preparation ● Agilex CAN debugging module  X 1 ●...
  • Page 30 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. 3 0 / 3 7...

  • Page 31: Tracer Mini Ros Package Usage Example

    ● CANlight can communication module X1 ● Thinkpad E470 Laptop X1 ● AGILEX TRACER MINI mobile robot chassis X1 ● AGILEX TRACER MINI supporting remote control FS-i6s X1 ● AGILEXTRACER MINI top aviation receptacle X1 3 1 / 3 7...
  • Page 32 ● Hardware connection and preparation ● Pull out the CAN line of the TRACER MINI rear aviation plug, and connect the CAN_H and CAN_L in the CAN line to the CAN_TO_USB adapter respectively; ● Turn on the chassis knob switch of the TRACER MINI mobile robot;...
  • Page 33 BUNKER chassis 复 代 $ candump can0 Please refer to: https://github.com/agilexrobotics/agx_sdk https://wi-ki.rdu.im/_pages/Notes/Embedded-System/Linux/-can-bus-in-linux.html AGILEX TRACER MINI ROS PACKAGE Download and compile ● Download ros dependencies 复 代 $ 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 ●...
  • Page 34 Start the ROS node ● Start the basic node through the can port 复 代 $ roslaunch tracer_bringup tracer_robot_base.launch ● Start the keyboard remote operation node 复 代 $ 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.

  • Page 35: Product Dimensions

    A: Under normal circumstances, if TRACER MINI can be controlled by the remote control, it means that the chassis motion control is normal, and it can receive the feedback frame of the chassis, which means that the CAN extension link is normal. Please check the sent CAN control frame to see if the command control mode is switched.
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