https://github.com/agilexrobotics/ranger_ros21.安装依赖sudo apt install libasio-dev libboost-all-dev sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard如果有进程占用执行下面的命令sudo killall packagekitd2.创建工作空间/添加功能包并进行编译编译前注意修改launch文件中的端口号默认can0cd ~/ws/src git clone https://github.com/agilexrobotics/ugv_sdk.git git clone https://github.com/agilexrobotics/ranger_ros2.git cd ~/ws # 安装依赖 rosdepc install --from-paths src --ignore-src -r -y # 编译底盘包 colcon build --packages-select ugv_sdk ranger_msgs ranger_bringup ranger_base # 刷新环境 source install/setup.bash3.启动can-to-usb适配器第一次使用功能包sudo bash ./src/ranger_ros2/ranger_bringup/scripts/setup_can2usb.bash非首次使用或者断电后重启sudo bash ./src/ranger_ros2/ranger_bringup/scripts/bringup_can2usb.bash注意修改脚本中的端口为需求端口默认can0端口测试端口candump can14.发布ROS2节点ros2 launch ranger_bringup ranger_mini_v3.launch.py #for ranger_mini 3.05.通过键盘控制底盘ros2 run teleop_twist_keyboard teleop_twist_keyboard按照说明操作w直线加速/x直线减速e转弯加速/c转弯减速i直线前进,直线后退u左转前进m左转后退o右转前进.右转后退。