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Re-setup Tutorial

This one is for somebody who wants to reinstall it totally and setup by themselves.

Some reference:

Dependencies & Build

reference: yujinrobot/kobuki#427, yujinrobot/kobuki#382

sudo apt update && sudo apt-get install liborocos-kdl-dev libusb-dev libftdi-dev ros-noetic-joy ros-noetic-ecl-core ros-noetic-ecl-console ros-noetic-ecl-mobile-robot -y

clone this repo:

mkdir -p ~/kobuki_ws/src && cd ~/kobuki_ws/src
git clone TODO_public_link # this repo

build, if you want to setup sensor also, please follow Sensor setup

cd ~/kobuki_ws
catkin build
  1. kobuki.cpp for the serial read thing.
  2. subscriber_callbacks.cpp topic will send to kobuki

Sensor setup

Every sensor have their own driver, we need install them first, here we give two examples on how to setup livox and VLP-16. But maybe the NUC in the kobuki already have it if you are not from the scratch and reinstall everything.

Dependencies are velodyne need:

sudo apt update && apt install -y libpcap-dev
cd ~/kobuki_ws/src && mkdir driver && cd driver
git clone https://github.com/ros-drivers/velodyne.git
git clone https://github.com/Livox-SDK/livox_ros_driver.git
cd ~/kobuki_ws
catkin build

Reference: ros_wiki_get_started_VLP16, using the wireshark to

sudo apt update && sudo add-apt-repository ppa:wireshark-dev/stable
sudo apt install wireshark

Open it with sudo

sudo wireshark

You can check the ip addr if you forget here, and also which ip the sensor looking for.

Livox SDK:

git clone https://github.com/Livox-SDK/Livox-SDK
cd Livox-SDK
cd build && cmake ..
make
sudo make install

Hardware Setup

  1. you need change the config file, base.yaml, the most import thing is:

    device_port: /dev/ttyUSB0

  2. Open the minimal one:

    roslaunch kobuki_node minimal.launch

  3. AND THEN run keyboard control, so we can start the kobuki!

    roslaunch kobuki_keyop keyop.launch

    if everything success, we will see this, and then press keyboard ↑ button:

    Forward/back arrows : linear velocity incr/decr.
Right/left arrows : angular velocity incr/decr.
Spacebar : reset linear/angular velocities.
d : disable motors.
e : enable motors.
q : quit.

  4. Remote controller [Logitech F710 setup]

    # check the lsusb
turtle@turtle-nuc /home » lsusb     
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 006: ID 046d:c21f Logitech, Inc. F710 Wireless Gamepad [XInput Mode] # <=== joy
Bus 001 Device 007: ID 0403:6001 Future Technology Devices International, Ltd FT232 Serial (UART) IC # <=== serial

    Most of time is in the /dev/input as js0, we can edit with:

    sudo vim /etc/udev/rules.d/10-colca.rules
KERNEL=="js*", SUBSYSTEM=="input", ATTRS{idVendor}=="046d", ATTRS{idProduct}=="c21f", MODE:="0777",SYMLINK+="logitech_joy"
KERNEL=="ttyUSB*", ATTRS{idVendor}=="0403", ATTRS{idProduct}=="6001", MODE:="0777",SYMLINK+="kobuki_serial"
service udev reload
service udev restart
# important step!! plugin out and in again!

    And we will see things by running following command, so that even more device is here, we will not lose them.

    turtle@turtle-nuc /home » ls -l /dev | grep -E "logitech|kob"
lrwxrwxrwx  1 root   root             7 mar 10 10:37 kobuki_serial -> ttyUSB0
lrwxrwxrwx  1 root   root             9 mar 10 10:31 logitech_joy -> input/js0

  5. Control Manual, Here is the button said

    • START : to start the robot, if you want to STOP, press BACK
    • BACK : to stop robot
    • MODE : PLEASE TURN OFF THE MODE
    • RB && RIGHT mini sticks: forward speed
    • RB && LEFT mini sticks: left/right turn

Issues

Some problem you may met, record here:

  1. Cannot open /dev/ttyUSB0: Permission denied #26 esp8266/source-code-examples#26

  2. serial problem: https://stackoverflow.com/questions/11403932/python-attributeerror-module-object-has-no-attribute-serial

  3. Kobuki: malformed sub-payload detected: yujinrobot/kobuki#382