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.

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.