ROS-SDK

Installing ROS Packages

Tip

Supported ROS versions:

Ubuntu 20.04

ROS1: Noetic

ROS2: Foxy, Galactic

Ubuntu 22.04

ROS2: Humble, Iron

Note, Ubuntu 18.04 version is not supported. Use docker to run a newer Ubuntu if you just have to.

Warning Note, before downloading the package, you need to have ROS installed and source the version you need to use. Otherwise, the downloaded package will not be usable.

In the path where you want to install the SDK, open the terminal and enter the following command:

wget -O hextool.bash https://ros.dl.hexmove.cn/ros.dl/hextool.bash && bash hextool.bash

Tip To prevent typos when typing commands, it is recommended to use the browser that comes with Ubuntu to open this website and copy the command from the browser to the terminal.

Then follow the instructions.

Tool selection, choose 1: Download SDK

SDK selection, choose the SDK you want to download. Please select according to the product you actually purchased. Here is an example with ORCS-MCNM.

Confirm the location of the new folder is correct

Enter the password to complete the installation(because script needs to run things like apt-get install xxx). Script will do compile test.

SDK Package Structure Description

The packages are similar, here is an example with ORCS-DIFF.

root@1c2edac84f0b:~# tree -d -L 5
.
└── sdk_orcs_diff_ws
    └── src
        ├── demo
        │   └── demo_general_chassis
        │       ├── demo_vehicle
        │       └── tools
        └── drivers
            └── xpkg_vehicle
                ├── include
                ├── ini
                ├── launch
                ├── scripts
                ├── src
                └── tools

14 directories

demo folder: Contains demo launch files, users can refer to them to write their own launch files.

Warning Note, the launch files in the demo folder are designed to only start one at a time. Do not launch multiple launch files simultaneously.

drivers folder: Basic robot driver software, such as charging stations (if any), chassis control, etc.
urdf folder: Used to store URDF files
In addition, two other packages were installed via apt:
- ros-$ROS_DISTRO-xpkg-comm responsible for physical communication with the chassis.
- ros-$ROS_DISTRO-xpkg-msgs responsible for providing message types.

If you are not professionally guided, do not modify any packages other than the demo folder.

Using the SDK Package

The package provides a test demo, please refer to Using ROS Demo