Contents
Installation Instructions
iClebo Kobuki is a mobile research robot from Yujin Robot. This instruction describes how to install Kobuki ros packages and get you ready to play with Kobuki. It assumes that you have already gotten ROS infrastructure and use Ubuntu Precise 12.04LTS. If ROS is not installed yet, please check out ROS installation before this. If you are running with different Operating system, ...good luck :P.
Install ROS
Install basic ROS packages and Kobuki dependencies
- ROS base
> sudo apt-get install ros-groovy-ros ros-groovy-ros-comm ros-groovy-roscpp ros-groovy-rospy
- ROS debs
> sudo apt-get install ros-groovy-geometry-msgs ros-groovy-sensor-msgs ros-groovy-nav-msgs ros-groovy-tf ros-groovy-rviz ros-groovy-nodelet ros-groovy-robot-state-publisher ros-groovy-diagnostic-msgs ros-groovy-dynamic-reconfigure ros-groovy-pcl ros-groovy-pcl-ros ros-groovy-pcl-msgs ros-groovy-diagnostics
Install Kobuki
- Kobuki debs
> sudo apt-get install ros-groovy-kobuki ros-groovy-kobuki-msgs
Ecl dependency
> sudo apt-get install ros-groovy-ecl-threads ros-groovy-ecl-devices ros-groovy-ecl-streams ros-groovy-ecl-mobile-robot ros-groovy-ecl-sigslots
> sudo apt-get install ros-groovy-yujin-ocs
Set udev Rule
Copy across a udev rule for /dev/kobuki and add the user to the dialout group (you may need to log out and log back in). See kobuki_ftdi for more details.
roscd kobuki_ftdi make udev
Keyboard Teleoperation
Ready to rock! With all the software you have installed so far, you should be able to teloperate your kobuki around with your keyboard!
# This launches the minimal operation configuration > roslaunch kobuki_node minimal.launch # This launches the keyboard teloperation node # Probably you want to do this in another terminal > roslaunch kobuki_keyop keyop.launch
Troubleshooting
In Groovy everything works flawlessly!
Ha, just kidding!
We will fill in trouble shooters as problems arise.
If you get more troubles or need further help, please join our kobuki user mailing list and post an issue for us!
Next up
Now, that your ready to rock, let us take a closer look on Kobuki.