如何换成串口通信，不用can口

Could NOT find wrp_io (missing: wrp_io_DIR)

‘LightMode’ has not been declared

Could you please introduce the meaning of each variable in ScoutStatus.msg, and also other variables in xxx.msg. Thanks!

We see that the CAN bus connection to the battery's BMS is physically connected inside of our Scout units, however the driver does not populate the fields of the /BMS_Status topic.

Is there a reason this cannot be enabled? Are there plans to expose the BMS information in the future?

We really need access to the state of charge for our application.

Thanks for any insight.

scout_sdk的包没了呀好像

/home/gy2/3rd/drivers_ws/src/ugv_sdk/include/ugv_sdk/details/async_port/async_can.hpp:41:16: error: ‘basic_stream_descriptor’ in namespace ‘asio::posix’ does not name a template type; did you mean ‘stream_descriptor’?
41 | asio::posix::basic_stream_descriptor<> socketcan_stream_;
| ^~~~~~~~~~~~~~~~~~~~~~~
| stream_descriptor
/home/gy2/3rd/drivers_ws/src/ugv_sdk/include/ugv_sdk/details/async_port/async_can.hpp:49:34: error: ‘asio::posix::basic_stream_descriptor’ has not been declared
49 | asio::posix::basic_stream_descriptor<> &stream);
| ^~~~~~~~~~~~~~~~~~~~~~~
/home/gy2/3rd/drivers_ws/src/ugv_sdk/include/ugv_sdk/details/async_port/async_can.hpp:49:57: error: expected ‘,’ or ‘...’ before ‘<’ token
49 | asio::posix::basic_stream_descriptor<> &stream);

roslaunch scout_bringup scout_mini_robot_base.launch
... logging to /home/harvey/.ros/log/1fce64a8-13f9-11ec-8fb5-ec2e98ca62cd/roslaunch-harvey-desktop-18794.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://harvey-desktop:44193/

SUMMARY

PARAMETERS

• /robot_description: <?xml version="1....
• /rosdistro: melodic
• /rosversion: 1.14.11
• /scout_base_node/base_frame: base_link
• /scout_base_node/is_scout_mini: True
• /scout_base_node/odom_frame: odom
• /scout_base_node/odom_topic_name: odom
• /scout_base_node/port_name: can0
• /scout_base_node/simulated_robot: False

NODES
/
joint_state_publisher (joint_state_publisher/joint_state_publisher)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
scout_base_node (scout_base/scout_base_node)

auto-starting new master
process[master]: started with pid [18813]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 1fce64a8-13f9-11ec-8fb5-ec2e98ca62cd
process[rosout-1]: started with pid [18829]
started core service [/rosout]
process[scout_base_node-2]: started with pid [18840]
process[joint_state_publisher-3]: started with pid [18847]
process[robot_state_publisher-4]: started with pid [18854]
Working as scout mini: 1
Start listening to port: can0
Detected protocol: UNKONWN
================================================================================REQUIRED process [scout_base_node-2] has died!
process has died [pid 18840, exit code 255, cmd /home/harvey/Desktop/GitHub/project_heatmap/swarmbot/GUI_demo/robotics/warthog_ws/devel/lib/scout_base/scout_base_node __name:=scout_base_node __log:=/home/harvey/.ros/log/1fce64a8-13f9-11ec-8fb5-ec2e98ca62cd/scout_base_node-2.log].
log file: /home/harvey/.ros/log/1fce64a8-13f9-11ec-8fb5-ec2e98ca62cd/scout_base_node-2*.log
Initiating shutdown!

[robot_state_publisher-4] killing on exit
[joint_state_publisher-3] killing on exit
[scout_base_node-2] killing on exit
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

can we change the wheel encoder hz? with the scout 2?

在b站视频BV1wp4y1q7yP里看到了能够进行webots仿真，但是这里却没找到对应的launch文件

There is a potential issue in the PublishOdometryToROSOmni function in the file scout_base/src/scout_messenger.cpp. Specifically, there may be an error in handling lateral velocity.

At line 354 of the file, the following line directly assigns the lateral velocity (lateral_speed_) to odom_msg.twist.twist.linear.y, instead of adding it to the twist section:

odom_msg.twist.twist.linear.y = 0.0;

It is recommended to correct it as follows:

odom_msg.twist.twist.linear.y = lateral_speed_;

I expect the value of linear.y to reflect the value of lateral_speed_, ensuring that the odometry message correctly contains lateral velocity information.