HUNTER RO

The HUNTER RO is a research-oriented configuration of the AgileX Hunter 2.0 platform, integrated with sensors from Drotek, Intel RealSense D435, and Ouster LiDAR. This kit is designed for R&D applications in autonomous navigation, perception, and robotics research.

../_images/hunter_ro_cover.png

Note

This manual is for the RnD kit and contains additional information about the HUNTER robot. For powering on and usage of the Hunter base platform, refer to the main Hunter documentation.

Warning

The robot is an R&D device and does not have CE Marking. Basic ROS understanding is required. If you are not familiar with ROS, check the ROS2 Wiki first.

Quick Start

For control of the robot via PC:

  1. Power on the robot and the remote according to the Hunter manual

  2. Place the remote’s SWB switch in the bottom 3rd position to control the robot via ROS2

Webserver

The webserver module comes pre-installed for heavy integration projects. It is accessible at:

  • URL: http://192.168.131.1:9000/

  • WiFi: Connect to the robot’s WiFi network first

The webserver can be configured via the config file:

/opt/mybotshop/src/mybotshop/hunter_webserver/config/robot_webserver.yaml

Login Credentials:

  • Username: admin

  • Password: mybotshop

../_images/web_login.png

Web Login Interface

Dashboard Features:

  • View IP Address of the HUNTER

  • View System load

../_images/web_dashboard.png

Web Dashboard

System Panel:

  • System uptime and OS information

  • CPU, Memory, Network, and Temperature monitoring

../_images/web_system.png

Web System Panel

Console Features:

  • Enable/Disable HUNTER ROS2 Services

  • Record System HUNTER logs

  • Battery status monitoring

  • Pre-configured action buttons

  • Web Joystick control

  • Online image stream

../_images/web_console.png

Web Console

Remote Desktop:

  • On-board screen of the HUNTER’s NVIDIA computer

../_images/web_remote_desktop.png

Web Remote Desktop

Navigation Interface:

  • SLAM Control (Start/Stop/Save)

  • Nav2 Control

../_images/web_navigation.png

Web Navigation Indoor

Robot Interface

Instructions for interfacing with the robot using Ubuntu 22.04 and ROS2 Humble.

Static Network Connection:

For the first time, connect via WiFi or LAN cable to configure the robot’s network.

To create a static connection on your PC (not the robot):

  1. Go to Settings → Network, click + to create a new connection

  2. Change the connection to Manual in IPv4 settings

  3. Set Address IP as 192.168.131.51 and Netmask as 24

  4. Save and restart your network

After successful connection, check the host’s local IP:

ifconfig

Ping the robot:

ping 192.168.131.1

Access the robot via SSH:

ssh -X administrator@192.168.131.1

The default password is: 123

HUNTER IP Addresses:

Robot

IP Addresses

Username

Password

HUNTER MCU

192.168.131.1

administrator

123

HUNTER MCU Web

http://192.168.131.1:9000 | admin

mybotshop

Ouster

192.168.131.20

Router SSID

192.168.131.200

HUNTERXXXXX-5G

mybotshop

Router Web

192.168.131.200

admin

Admin123

Note

Sometimes other networks can cause disruptions when connecting to the HUNTER. It is best to have only your connection to the robot active and all others inactive.

Interfacing:

  1. Connect to the HUNTER as described in the Network section

  2. Open several SSH sessions:

    ssh -X administrator@192.168.131.1

  3. Verify the robot is processing information:

    ros2 topic list

    If data is displayed, the drivers are running.

Visualization

View the HUNTER’s current state:

ros2 launch hunter_viz view_robot.launch.py

Teleoperation

Teleoperate the HUNTER (change the id to match your robot):

ros2 run teleop_twist_keyboard teleop_twist_keyboard \
  --ros-args --remap cmd_vel:=/hunter_0001/cmd_vel

Core Packages

Auto Drivers Startup

Note

Generally, all drivers are off except the webserver and can be activated via webserver or command.

Start the platform service:

sudo service hunter-platform start

Check service status:

sudo service hunter-webserver status
sudo service hunter-platform status

If the service is green, do not launch hunter_bringup as it’s running in background.

Launch the hunter ROS driver manually:

ros2 launch hunter_bringup system.launch.py

Restart service if needed:

sudo service hunter-platform restart

Update startup job after modifications:

ros2 run hunter_bringup startup_installer.py

Ouster LiDAR

The Ouster LiDAR provides a 3D point cloud of the environment.

ros2 launch hunter_lidars ouster.launch.py

Note

This is turned on by default. Only use this command when the auto service is turned off.

Intel RealSense D435

Launch the depth camera:

ros2 launch hunter_depth_camera realsense_d435.launch.py

Configuration file location:

/opt/mybotshop/src/mybotshop/hunter_depth_camera/launch/realsense_d435i.launch.py

Note

By default the RealSense D435 is off. The launch file is configured to enable continuous depth stream without lag.

Installation

NVIDIA Orin Setup

Note

This repository should already be available and built on Hunter’s NVIDIA board if configured by the MYBOTSHOP team.

  1. Create directory:

    cd /opt/
sudo mkdir mybotshop
sudo chown -R administrator:administrator /opt/mybotshop

  2. Sync the repository:

    rsync -avP -t --delete -e ssh src \
  administrator@192.168.131.1://opt/mybotshop

  3. Build the kernel for NVIDIA:

    ./jetson-gs_usb-kernel-builder.sh

sudo visudo -f /etc/sudoers.d/can-setup
administrator ALL=(ALL) \
  NOPASSWD: /sbin/modprobe gs_usb, /sbin/ip link \
  set can2 up type can bitrate 500000

  4. Patch NVIDIA kernel for RealSense camera:

    sha256sum -c install-modules.tar.gz.sha256
tar -xzf install-modules.tar.gz
cd install-modules
sudo ./install-realsense-modules.sh

Support

In case of any issues:

Documentation resources:

  • MYBOTSHOP Docs: docs.mybotshop.de

  • QUADRUPED Docs: docs.quadruped.de