Chassis CAN Setup
Initialize the chassis CAN adapter, bring up the interface, and validate the Scout chain.
Scope
This page mainly targets:
- Scout Mini
- Scout Mini Omni
- CAN-based chassis communication
scout_ros2 + ugv_sdk
First-Time CAN Adapter Setup
The repository already includes helper scripts in ugv_sdk:
driver/ugv_sdk/scripts/setup_can2usb.bash
You can run:
bash ~/venom_ws/src/venom_vnv/driver/ugv_sdk/scripts/setup_can2usb.bash
The script essentially performs:
sudo modprobe gs_usb
sudo ip link set can0 up type can bitrate 500000
sudo apt install -y can-utils
Bring Up can0 After Replugging
bash ~/venom_ws/src/venom_vnv/driver/ugv_sdk/scripts/bringup_can2usb_500k.bash
Equivalent command:
sudo ip link set can0 up type can bitrate 500000
Check the CAN Interface
ifconfig -a | grep can
ip -details link show can0
Debugging Tips
candump can0
If the bus is healthy, you should see chassis-related CAN frames.
Launch the ROS 2 Chassis Node
cd ~/venom_ws
source install/setup.bash
ros2 launch scout_base scout_mini_base.launch.py
Other common variants:
ros2 launch scout_base scout_base.launch.py
ros2 launch scout_base scout_mini_omni_base.launch.py
Keyboard Teleop Test
ros2 run teleop_twist_keyboard teleop_twist_keyboard
Common Issues
can0 is missing
- Check whether the adapter is plugged in
- Run
sudo modprobe gs_usb - Run the setup script again
can0 exists but the chassis does not respond
- Confirm the bitrate is
500000 - Check the remote-controller mode and E-stop
- Use
candump can0to inspect frame traffic
CAN needs to be reconfigured after every boot
If you want boot-time setup, combine this page with rc.local.