AgileX Scout Mini

This repository contains resources for RobotiXX Lab's Scout Mini including ROS 2 packages, instructions, applications and changelog

Overview

Online documentation

Downloadable version

Hardware Setup

Onboard computer

Jetson Orin AGX Developer Kit 64GB with Jetpack 6.2

#TODO: add notes for customizing kernel build

ROS 2 Packages

Main packages:

• ugv_sdk: our fork for C++ interface to communicate with the robot.
• scout_ros2: our fork for ROS 2 wrapper including our own URDF models with sensor box and mounts.

Workspace Setup

Clone

Clone the repository with submodules:

git clone --recurse-submodules git@github.com:RobotiXX/ScoutMini.git
cd ScoutMini

If you already cloned the repository without submodules:

git submodule update --init --recursive

Pull Latest Changes

Pull the main repository and update submodules to the commits referenced by the repo:

git pull --recurse-submodules
git submodule sync --recursive
git submodule update --init --recursive

Build ROS 2 Workspace

Build the workspace with the provided helper script:

./scripts/build_ros2_ws.sh
source /opt/ros/humble/setup.bash
source ros2_ws/install/setup.bash

Notes:

• The build script uses --symlink-install, Release mode, and disables tests by default.
• ZED packages are skipped automatically if the ZED SDK is not installed under /usr/local/zed.
• zed_debug is skipped by default. Use ./scripts/build_ros2_ws.sh --with-zed-debug if needed.
• If another workspace on your machine also contains ugv_sdk, the version from the workspace you source last is the one ROS 2 will use.

Teleoperation

AgileX Remote Controller

Refer to online or downloadable documentation.

PS4 Dual Shock Controller

Based on ds4_driver, refer to socnav_data_collection for example mappings and usage.

Applications

Scenario-based social navigation data collection (2/2025 - 5/2025)

Refer to this repo: socnav_data_collection

Changelog

3/2025: Upgraded Jetson AGX Orin to JetPack 6.2 and ROS 2 Humble stacks to avoid end-of-life OS and ROS.

3/2025: Switched to use Waveshare SN65HVD230 CAN Transceiver with Jetson I/O pins as Jetpack 6.2 does not work with gs_usb kernel for Geschwister Schneider CAN USB.