README.md

Setup Kobuki base

1. Download Kobuki_base repositories with drivers and utils inside your workspace (inside src directory):

vcs import < /kobuki_instructions/repos

2. Ensure you have all dependencies:

cd <workspace_root> && rosdep install --from-paths src --ignore-src -r -y

3. Build workspace:

cd <workspace_root> && colcon_build --symlink-install

4. Source workspace:

source <workspace_root>/install/setup.bash

Try Kobuki

Connect serial cable to the Robot and Switch Kobuki ON.

Kobuki’s default means of communication is over usb (it can instead use the serial comm port directly, more on that later). On most linux systems, your Kobuki will appear on /dev/ttyUSBO as soon as you connect the cable. This is a typical serial2usb device port and if you happen to be using more than one such device, Kobuki may appear at ttyUSB1, ttyUSB1, …

ls /dev/ttyUSB0

In order to provide a constant identifier for the connection, use the udev rule prepared in kobuki_ftdi:

sudo cp <workspace_root>/src/kobuki_ftdi/60-kobuki.rules /etc/udev/rules.d
sudo service udev reload
sudo service udev restart

Check for existance of /dev/kobuki

ls /dev/kobuki

Does kobuki appear as USB device?

lsusb
0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC

Do you see it in dmesg when you insert the usb cable?

dmesg
    [  118.984126] usb 3-1: new full-speed USB device number 5 using xhci_hcd
    [  119.139253] usb 3-1: New USB device found, idVendor=0403, idProduct=6001
    [  119.139257] usb 3-1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
    [  119.139259] usb 3-1: Product: iClebo Kobuki
    [  119.139261] usb 3-1: Manufacturer: Yujin Robot
    [  119.139263] usb 3-1: SerialNumber: kobuki_A505QO28
    [  119.150240] usbcore: registered new interface driver usbserial_generic
    [  119.150249] usbserial: USB Serial support registered for generic
    [  119.152383] usbcore: registered new interface driver ftdi_sio
    [  119.152403] usbserial: USB Serial support registered for FTDI USB Serial Device
    [  119.152505] ftdi_sio 3-1:1.0: FTDI USB Serial Device converter detected
    [  119.152530] usb 3-1: Detected FT232RL
    [  119.152665] usb 3-1: FTDI USB Serial Device converter now attached to ttyUSB0

and when you remove it?

dmesg
    [  184.386124] usb 3-1: USB disconnect, device number 5
    [  184.386507] ftdi_sio ttyUSB0: FTDI USB Serial Device converter now disconnected from ttyUSB0
    [  184.386547] ftdi_sio 3-1:1.0: device disconnected

Get the serial number:

sudo <workspace>/install/kobuki_ftdi/lib/kobuki_ftdi/get_serial_number
    1 device(s) found.

    Device #0
      Manufacturer : Yujin Robot
      Product      : iClebo Kobuki
      Serial Number: kobuki_A505QO28

Finally try to move Kobuki robot:

1. Launch Kobuki_node with specific configuration ( provided inside kobuki_launch package):

ros2 launch kobuki_launch kobuki_base.launch.py
# check that ros topics appear:
ros2 topic list
# teleoperate robot:
ros2 run teleop_twist_keyboard teleop_twist_keyboard --ros-args --remap /cmd_vel:=/commands/velocity

Change topic names if necessary inside kobuki_ros/kobuki_node/src/kobuki_ros.cpp

cd /home/ws apt install ros-humble-image-geometry libuvc-dev nlohmann-json3-dev apt install ros-humble-diagnostic-updater apt install ros-humble-image-publisher cd src/CustomRobots/Turtlebot2/Turtlebot2_physical vcs import < kobuki_instructions/repos cd .. cd .. rosdep install --from-paths src --ignore-src -r -y cd src/CustomRobots/ cd Turtlebot2/Turtlebot2_physical/ mv ecl ../../../ecl mv kobuki_core ../../../kobuki_core mv kobuki_ftdi ../../../kobuki_ftdi mv kobuki_ros ../../../kobuki_ros mv kobuki_iterfaces ../../../kobuki_iterfaces mv kobuki_ros_iterfaces ../../../kobuki_ros_iterfaces mv sophus ../../../sophus cd ../../.. colcon build --symlink-install --packages-ignore kobuki_ftdi cd src git clone https://github.com/Juancams/ros_astra_camera.git cd .. colcon build --symlink-install --packages-ignore kobuki_ftdi