Welcome to the BestMan_Agilex repository, a codebase dedicated to the Agilex UGV platform.

💻 Installation

• Pull the repository

  git clone --recursive https://github.com/Yuhan321/BestMan_Agilex.git
  cd BestMan_Agilex

  • If you've checked out ugv_sdk without --recursive, you can run the following command to fetch the submodule:

  git submodule update --init --recursive

• Setup CAN-To-USB Adapter

  • Enable gs_usb kernel module:

    sudo modprobe gs_usb

  • Bring up the CAN device:

    sudo ip link set can0 up type can bitrate 500000

  • If no error occurred during the previous steps, you should be able to see the CAN device by using the following command:

    ifconfig -a

  • Install and use can-utils to test the hardware:

    sudo apt install can-utils

  • Testing commands:

    • Receive data from can0:

      candump can0

    • Send data to can0:

      cansend can0 001#1122334455667788

• Setup UWB Device

  • Check the serial port:

    sudo dmesg | grep tty

  • Set read/write permissions for all users:

    sudo chmod 666 /dev/ttyUSB0

  • Alternatively, add the current user to the dialout group to simplify access by avoiding the need to modify permissions each time:

    sudo usermod -aG dialout $USER

    Log out and log back in for the changes to take effect.

• Create a conda environment

  cd Install
  conda env create -f basic_environment.yaml
  conda activate BestMan_Agilex

• Generate UGV SDK Python Shared Library (Personal Requirement)

  If you want to generate the ugv_sdk_py shared library for your environment, please follow these steps:

  • Install Python development files:

    sudo apt-get install python3-dev

  • Clone the ugv_sdk repository:

    git clone --recursive https://github.com/westonrobot/ugv_sdk.git
    cd ugv_sdk

  • Create a build directory and navigate into it:

    mkdir build && cd build

  • Run cmake to enable Python binding and compile the project:

    cmake -DPYTHON_BINDING=ON .. && make

  After the build completes, replace the generated shared library file with the one in RoboticsToolBox/ugv_sdk_py.cpython-38-x86_64-linux-gnu.so to ensure compatibility with your environment.

👨‍💻 Basic Demos

• Setup CAN device

  sudo ip link set can0 up type can bitrate 500000

• Run the following demos:

  cd ~/BestMan_Agilex/Examples/ 

  • Get location information:

    python get_location.py 

  • Control motion (e.g., rotate at 0.2 rad/s):

    python motion_test.py

  • Move to target:

    python move_to_target_heading.py

  • Move to target with a precision of 0.1 meters：

    python move_to_target_heading_parallel.py

  • Rotate to a fixed angle:

    python rotate_to_fixed_angle.py

📧 Contact Information

If you have any questions or need further assistance, please feel free to reach out via email:

• dingyan@pjlab.org.cn
• wuyuhan@pjlab.org.cn

🤝 Reference

• CAN command reference in Linux
• UGV SDK on GitHub