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kobuki-base / kobuki_ros

ROS2 runtime libraries, nodes and launchers for the Kobuki
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How to use kobuki with ROS2(foxy)? #46

Open mat-macnica opened 1 year ago

mat-macnica commented 1 year ago

Hello,

I need to control "kobuki" by "/cmd_vel" with ROS2(humble ) on Nvidia-JetsonNX. But I think that "humble is not supported" from below link; https://github.com/kobuki-base/kobuki_ros/issues/43

So, at first, I try to control "kobuki" by "/cmd_vel" with ROS2(foxy) on Nvidia-JetsonNX. But I found Error like below;

ros

I'd like to also share the detail command like below;

git clone https://github.com/kobuki-base/kobuki_ros git clone https://github.com/yujinrobot/kobuki_core git clone https://github.com/kobuki-base/kobuki_ros_interfaces colcon build

Question: Are there anyone to succeed to run "kobuki(turtlebot2)" with ROS2(foxy)?

We would appreciate if you tell us the successful way to use "kobuki(turtlebot2)" with ROS2(foxy).

-- Best regards,

AnOrdinaryUsser commented 1 year ago

Good,

I don't know if you are still with the project, but to use this repository, at least in my case, you just have to install the packages using apt install. I had to remove the kobuki_auto_docking folder, so that it compiled with colcon.

To use the platform I used the following command: kobuki-simple-keyop

Don't forget to source the repository you have installed: source ~/<workspace>/install/setup.bash

By the way, I don't know about you but as the tutorials use colcon build --symlink-install I use this one instead of just colcon build.

I have managed to get it to move, but I would like to know how I can get it to correctly publish the odometry information and all the necessary information to do a simple mapping with ROS2 together with a lidar A1. However, I can't find much information about all this and I think the kobuki platform is on its last legs.

I have tried to use the ROS2 repository _(https://github.com/ros2/turtlebot2_demo)_ Turtlebot2_demo where they offer packages for Turtlebot2 which is basically the Kobuki platform but with the Astra camera.

With this repo I managed to teleoperate the platform in ROS 2 Bouncy and make it follow an object with the camera. However, as with this repo I have not been able to get the mapping to work.

I hope all this info helps you, if you need anything you can talk to me without problem.