BestMan_Agilex/README.md at main · BestManRobotics/BestMan_Agilex

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.

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
```

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