AgileX SCOUT 2.0 User Manual
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AgileX SCOUT 2.0 User Manual

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SCOUT 2.0 USER MANUAL
Document version
No.
Version
1
V.2.0.0
2
V.2.0.1
AgileX Robotics Team
USER MANUAL   V.2.0.2 2023.09
Date
Edited by
2023/03/12
2023/04/19
SCOUT 2.0
Reviewer
吴忠义
义
1 / 4 8
Notes
Document creation,
image update
Sync GitHub commands

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Summary of Contents for AgileX SCOUT 2.0

  • Page 1 SCOUT 2.0 USER MANUAL SCOUT 2.0 AgileX Robotics Team USER MANUAL   V.2.0.2 2023.09 Document version Version Date Edited by Reviewer Notes Document creation, 2023/03/12 吴忠义 V.2.0.0 image update 2023/04/19 V.2.0.1 Sync GitHub commands 义 1 / 4 8...
  • Page 2 If you have any questions about use, please contact us at support@agilex.ai . Please follow and implement all assembly instructions and guidelines in the chapters of this manual, which is very important.
  • Page 3 SCOUT2.0 is not equipped with any automatic obstacle avoidance sensor. ● Use SCOUT2.0 always under -10℃~45℃ ambient temperature. ● If SCOUT 2.0 is not configured with separate custom IP protection, its water and dust protection will be IP22 ONLY. Pre-work Checklist ●...
  • Page 4 The battery supplied with SCOUT 2.0 is not fully charged in the factory setting, but its specific power capacity can be displayed on the voltmeter at rear end of SCOUT 2.0 chassis or read via CAN bus communication interface. The battery recharging can be stopped when the green LED on the charger turns green.
  • Page 5 Operational environment ● The operating temperature of SCOUT 2.0 is -10℃ to 45℃; please do not use it below -10℃ and above 45℃ ; ● The requirements for relative humidity in the use environment of SCOUT 2.0 are: maximum 80%, minimum 30%;...
  • Page 6 Other notes ● SCOUT 2.0 has plastic parts in front and rear, please do not directly hit those parts with excessive force to avoid possible damages; ● When handling and setting up, please do not fall off or place the vehicle upside down;...

  • Page 7: Table Of Contents

    CONTENTS Document version Safety Information Attention CONTENTS 1 Introduction 1.1 Component list 1.2 Tech specifications 1.3Requirement for development 2 The Basics 2.1 Status indication 2.2 Instructions on electrical interfaces 2.2.1 Top electrical interface 2.2.2 Rear electrical interface 2.3 Instructions on remote control 2.4 Instructions on control demands and movements 2.5 Instructions on lighting control 3 Getting Started 3.1 Use and operation...

  • Page 8: Introduction

    GPS, IMU and robotic manipulator can be optionally installed on SCOUT 2.0 for advanced navigation and computer vision applications. SCOUT 2.0 is frequently used for autonomous driving education and research, indoor and outdoor security patrolling, environment sensing, general logistics and transportation, to name a few only.

  • Page 9: Tech Specifications

    1.2 Tech specifications Parameter Types Items Values L × W × H (mm) 930 X 699 X 349 Wheelbase (mm) Front/rear wheel base (mm) Weight of chassis body (kg) 67±1kg Battery Type Lithium battery Battery parameters 24V 30Ah Power drive motor DC brushless 4 X 400W Steering drive motor Mechanical specifications Parking mode...

  • Page 10: Requirement For Development

    System interface 1.3 Requirement for development FS RC transmitter is provided (optional) in the factory setting pf SCOUT 2.0, which allows users to control the chassis of robot to move and turn; CAN interfaces on SCOUT 2.0 can be used for user s customization.
  • Page 11 1 1 / 4 8...

  • Page 12: Status Indication

    5. A bayonet open compartment is reserved on the top for users. 2.1 Status indication Users can identify the status of vehicle body through the voltmeter, the beeper and lights mounted on SCOUT 2.0. For details, please refer to Table 2.1. Status Description...

  • Page 13: Instructions On Electrical Interfaces

    Figure 2.3 Schematic Diagram of SCOUT 2.0 Electrical Interface on Top SCOUT 2.0 has an aviation extension interface both on top and at rear end, each of which is configured with a set of power supply and a set of CAN communication interface. These interfaces can be used to supply power to extended devices and establish communication.

  • Page 14: Rear Electrical Interface

    2.2.2 Rear electrical interface The extension interface at rear end is shown in Figure 2.6, where Q1 is the key switch as the main electrical switch; Q2 is the recharging interface; Q3 is the power supply switch of drive system; Q4 is DB9 serial port; Q5 is the extension interface for CAN and 24V power supply; Q6 is the display of battery voltage.

  • Page 15: Instructions On Remote Control

    2.3 Instructions on remote control The FS remote control is an optional accessory for SCOUT2.0 products. Customers can choose according to actual needs. The remote control can easily control the SCOUT2.0 universal robot chassis. In this product, we use a left-hand throttle design. Its definition and functions can be referred to Figure 2.7.
  • Page 16 Figure 2.7 Schematic Diagram of Buttons on FS RC transmitter Remote control interface description: Scout : model Vol: battery voltage Car: chassis status Batt: Chassis power percentage P: Park Remoter: remote control battery level Fault Code: Error information (Refer to the fault information description table) 1 6 / 4 8...

  • Page 17: Instructions On Control Demands And Movements

    Figure 2.9 Schematic Diagram of Reference Coordinate System for Vehicle Body As shown in Figure 2.9, the vehicle body of SCOUT 2.0 is in parallel with X axis of the established reference coordinate system. In the remote control mode, push the remote control stick S1 forward to move in the positive X direction, push S1 backward to move in the negative X direction.

  • Page 18: Getting Started

    Breathing light mode: The headlights and tail lights are in breathing light mode in various states. 3 Getting Started This section introduces the basic operation and development of the SCOUT 2.0 platform using the CAN bus interface. 3.1 Use and operation...

  • Page 19: Charging

    Rotate the key switch to cut off the power supply; Emergency stop ● Press down emergency push button both on the left and the right of SCOUT 2.0 vehicle body; Basic operating procedure of remote control: After the chassis of SCOUT 2.0 mobile robot is started correctly, turn on the RC transmitter and select the remote-control mode.

  • Page 20: Battery Replacement

    Plug the XT60 interface and the power CAN interface into the main control board, confirm that all the connecting lines are correct, and then power on to test. 3.3 Communication using CAN SCOUT 2.0 provides CAN interfaces for user customization. Users can use it to conduct command control over the vehicle body. 2 0 / 4 8...

  • Page 21: Can Cable Connection

    S1 mode of DJI RC transmitter to the top. At this point, SCOUT 2.0 chassis will accept the command from CAN interface, and the host can also parse the current state of chassis with the real-time data fed back from CAN bus. For the detailed content of protocol, please refer to CAN communication protocol.
  • Page 22 Command System Status Feedback Command Name Receive-timeout Sending node Receiving node Cycle (ms) (ms) Steer-by-wire Decision-making 0x151 20ms None chassis control unit Data length 0x08 Position Function Data type Description 0x00 System in normal condition Current status of 0x01 Emergency stop mode (not byte [0] unsigned int8 vehicle body...
  • Page 23 Table 3.2 Description of Failure Information Description of Failure Information Byte Meaning Battery undervoltage fault (0: No failure 1: Failure) Protection bit [0] voltage is 22V  (The battery version with BMS, the protection power is 10%) bit [1] Battery undervoltage fault[2] (0: No failure 1: Failure) Alarm voltage is 24V (The battery version with BMS, the warning power is 15%) bit [2]...
  • Page 24 Receive-timeout Sending node Receiving node Cycle (ms) (ms) Steer-by-wire Decision-making 0x221 20ms None chassis control unit Date length 0×08 Position Function Data type Description Moving speed hi byte [0] gher 8 bits Actual speed × 1000 (with an accura signed int16 cy of 0.001m/s) byte [1] Moving speed lo wer 8 bits Rotation speed h byte [2] igher 8 bits Actual speed × 1000 (with an accura signed int16 cy of 0.001rad/s) byte [3] Rotation speed l ower 8 bits byte [4] Reserved...
  • Page 25 Decision-making Chassis node 0x111 20ms 500ms control unit Date length 0×08 Position Function Data type Description Linear speed higher 8 bits byte [0] Vehicle moving speed, unit mm/s signed int16 (effective value+ -1500) byte [1] Linear speed lower 8 bits Angular speed byte [2] higher 8 bits...
  • Page 26 0×01 CAN command mode enable Description of control mode: In case the SCOUT 2.0 is powered on and the RC transmitter is not connected, the control mode is defaulted to standby mode. At this time, the chassis only receives control mode command, and does not respond other commands.
  • Page 27 byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] 0x00 0x96 0x00 0x00 0x00 0x00 0x00 0x00 2.The vehicle steering 0.2rad/s byte [0] byte [1] byte [2] byte [3] byte [4] byte [5] byte [6] byte [7] 0x00 0x00 0x00 0xc8 0x00 0x00 0x00 0x00 The chassis status information will be feedback, and what s more, the information about motor ’...
  • Page 28 Date length 0×08 Position Function Data type Description Motor speed higher 8 bits byte [0] signed int16 Current speed of motor Unit RPM byte [1] Motor speed lower 8 bits Motor current byte [2] higher 8 bits signed int16 Motor current Unit 0.1A byte [3] Motor current lower 8 bits...
  • Page 29 Decision- Steer-by-wire making control 0x261~0x264 20ms None chassis unit Date length 0×08 Position Function Data type Description Drive voltage byte [0] higher 8 bits unsigned int16 Current voltage of drive  unit 0.1V byte [1] Drive voltage lower 8 bits Drive temperature byte [2] higher 8 bits...
  • Page 30 bit[3] Whether the drive is overheated (0:Normal 1:Overheated) bit[4] Sensor status (0:Normal 1:Abnormal) bit[5] Drive error status (0:Normal 1:Error) bit[6] Drive enable status (0:Normal 1:Disability) bit[7] Reserved The front and external lights also support command control. The following table shows the control commands: Table 3.10 Light Control Frame Command Name...
  • Page 31 0x00 Normally off 0x01 Normally open byte [3] Rear light mode unsigned int8 0x02 Breathing light mode 0x03 Customer-defined brightness Customize [0, 100], where 0 refers to no byte [4] brightness for unsigned int8 brightness,100 refers to maximum rear light brightness[5] byte [5] Reserved...
  • Page 32 0x00 Normally off 0x01 Normally open Current front byte [1] unsigned int8 light mode 0x02 Breathing light mode 0x03 Customer-defined brightness Current custom [0, 100], where 0 refers to no byte [2] brightness of unsigned int8 brightness ,100 refers to maximum front light brightness 0x00 Normally off...
  • Page 33 Position Function Date type Description Enquire system byte [0] unsigned int8 Constant 0×01  version Table 3.13 System Version Information Enquiry Frame Command System Version Information Feedback Frame Name Receive-timeout Sending node Receiving node Cycle (ms) (ms) Steer-by-wire Decision-making 0x41A None None chassis control unit...
  • Page 34 The number of main control byte [4] software version Higher 8 bits is the main version higher 8 bits number, unsigned int16 lower 8 bits is the second version The number of number main control byte [5] software version lower 8 bits The number of drive software byte [6]...
  • Page 35 Left wheel mileometer highest bit byte [0] Left wheel mileometer Chassis left wheel mileometer byte [1 second-highest bit signed feedback   int32 byte [2] Left wheel mileometer Unit:mm second-highest bit byte [3] Left wheel mileometer lowest bit Right wheel mileometer highest bit Right wheel byte [4] mileometer second-...
  • Page 36 bit[0-1]: SWA: 2- Up 3-Down bit[2-3]: SWB : 2-Up 1-Middle 3- Down  SW feedback byte[0] unsigned int8 bit[4-5]: SWC : 2-Up 1-Middle 3- Down bit[6-7]: SWD 2-Up 3-Down Right joystick left byte[1] signed int8 Range[-100,100]  and right Right joystick up  byte[2] signed int8 Range[-100,100] and down Left joystick up  byte[3] signed int8 Range[-100,100] and down Left joystick left  byte[4] signed int8 Range[-100,100] and right byte[5] Left knob VRA signed int8 Range[-100,100] byte[6] Reserved 0x00 byte[7] Count Parity bit...

  • Page 37: Firmware Upgrades

    Unit: 0.1°C byte[7] Battery temperat ure lower 8 bits 3.5 Firmware upgrades In order to facilitate users to upgrade the firmware version used by SCOUT 2.0 and bring customers a more complete experience, SCOUT 2.0 provides a firmware upgrade hardware interface and corresponding client software. Upgrade Preparation ●...
  • Page 38 1.Plug in the USBTOCAN module on the computer, and then open the AgxCandoUpgradeToolV1.3_boxed.exe software (the sequence cannot be wrong, first open the software and then plug in the module, the device will not be recognized). 2.Click the Open Serial button, and then press the power button on the car body. If the connection is successful, the version information of the main control will be recognized, as shown in the figure.
  • Page 39 4.Click the node to be upgraded in the node list box, and then click Start Upgrade Firmware to start upgrading the firmware. After the upgrade is successful, a pop-up box will prompt. 3 9 / 4 8...

  • Page 40: Scout 2.0 Sdk

    SDK is developed for SCOUT 2.0 mobile robot.SDK software package provides a C++ based interface, which is used to communicate with the chassis of SCOUT 2.0 mobile robot and can obtain the latest status of the robot and control basic actions of the robot. For now, CAN adaptation to communication is available, but RS232-based adaptation is still under way.Based on...
  • Page 41 ● Hardware connection and preparation ● Lead out the CAN wire of the SCOUT 2.0 top aviation plug or the tail plug, and connect CAN_H and CAN_L in the CAN wire to the CAN_TO_USB adapter respectively; ● Turn on the knob switch on the SCOUT 2.0 mobile robot chassis, and check whether the emergency stop switches on both sides are released ●...
  • Page 42 $ sudo apt install can-utils ● If the can-to-usb has been connected to the SCOUT 2.0 robot this time, and the car has been turned on, use the following commands to monitor the data from the SCOUT 2.0 chassis 复 代...
  • Page 43 $ sudo apt install -y libasio-dev $ sudo apt install -y ros-$ROS_DISTRO-teleop-twist-keyboard ● Clone compile scout_ros code 复 代 $ cd ~/catkin_ws/src $ git clone https://github.com/agilexrobotics/ugv_sdk.git $ git clone https://github.com/agilexrobotics/scout_ros.git $ cd .. $ catkin_make Please refer to https://github.com/agilexrobotics/scout_ros Start the ROS node ●...
  • Page 44 Q:Is the tire wear of SCOUT 2.0 is normally seen in operation? A: The tire wear of SCOUT 2.0 is normally seen when it is running. As SCOUT 2.0 is based on the four-wheel differential steering design, sliding friction and rolling friction both occur when the vehicle body rotates. If the floor is not smooth but rough, tire surfaces will be worn out. In order to reduce or slow down the wear, small-angle turning can be conducted for less turning on a pivot.

  • Page 45: Product Dimensions

    A: There is a communication protection mechanism inside SCOUT 2.0, which means the chassis is provided with timeout protection when processing external CAN control commands. Suppose the vehicle receives one frame of communication protocol, but it does no receive the next frame of control command after 500ms.

  • Page 46: Illustration Diagram Of Top Extended Support Dimensions

    6.2 Illustration diagram of top extended support dimensions 4 6 / 4 8...
  • Page 47 4 7 / 4 8...
  • Page 48 4 8 / 4 8...

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