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Chassis CAN Setup

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 can0 to inspect frame traffic

CAN needs to be reconfigured after every boot

If you want boot-time setup, combine this page with rc.local.