Scout Driver
scout_ros2 — ROS 2 wrapper for AgileX Scout and Scout Mini platforms.
Module Role
scout_ros2 is the ROS 2 wrapper for Scout-family chassis. It:
- receives
/cmd_vel - talks to the platform through
ugv_sdk - publishes odometry, state, and RC status
- exposes the common
odom -> base_linkTF contract
Main Interfaces
| Direction | Topic / TF | Type | Description |
|---|---|---|---|
| Subscribe | /cmd_vel |
geometry_msgs/Twist |
velocity command |
| Subscribe | /light_control |
scout_msgs/ScoutLightCmd |
light control |
| Publish | /odom |
nav_msgs/Odometry |
odometry |
| Publish | /scout_status |
scout_msgs/ScoutStatus |
chassis state |
| Publish | /rc_status |
scout_msgs/ScoutRCState |
remote-controller state |
| Publish | odom -> base_link |
tf2 |
base TF |
Typical Launches
ros2 launch scout_base scout_base.launch.py
ros2 launch scout_base scout_mini_base.launch.py
ros2 launch scout_base scout_mini_omni_base.launch.py