Kobuki from Intelligent Robotics Lab using ROS 2

This project contains the launchers to run the Turtlebot2 Kobuki, both in simulated running different Gazebo worlds, as in the real robot using its drivers.

• Installation on your own computer
• Run the robot in ROS 2
  • Run Gazebo
  • Run a real kobuki
• Run Navigation in ROS 2
• About

Installation on your own computer

You need to have previously installed ROS2. Please follow this guide if you don’t have it.

source /opt/ros/jazzy/setup.bash

Clone the repository to your workspace:

cd <ros2-workspace>/src
git clone https://github.com/IntelligentRoboticsLabs/kobuki.git -b jazzy

Prepare your thirparty repos:

sudo apt update && sudo apt install ros-dev-tools -y
cd <ros2-workspace>/src/
vcs import < kobuki/thirdparty.repos

Please make sure that this last command has not failed. If this happens, run it again.

Install libusb, libftdi & libuvc

sudo apt install libusb-1.0-0-dev libftdi1-dev libuvc-dev

Install udev rules from astra camera, kobuki and rplidar

When you connect a piece of hardware to your pc, it assigns /dev/ttyUSB* to it. This will not have the necessary read/write permissions, so we will not be able to use it correctly. The solution is to set up some udev rules that creates a symlink with another name (example: /dev/ttyUSB0 -> /dev/kobuki) and grants it the necessary permissions.

cd <ros2-workspace>
sudo cp src/ThirdParty/ros_astra_camera/astra_camera/scripts/56-orbbec-usb.rules /etc/udev/rules.d/
sudo cp src/ThirdParty/rplidar_ros/scripts/rplidar.rules /etc/udev/rules.d/
sudo cp src/ThirdParty/kobuki_ros/60-kobuki.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger

Building project

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install 

If your terminal has crashed or closed while compiling, please try compiling your packages as follows colcon build --symlink-install --parallel-workers 1 or do so by selecting the package that failed colcon build --symlink-install --parallel-workers 1 --packages-select <package>

Also, if you want to prevent it from recompiling that package, add a COLCON_IGNORE inside the package

Run the robot in ROS 2

Run Gazebo

You can launch the simulator as follows:

ros2 launch kobuki simulation.launch.py

Or you can add the path of your world to the world parameter like this:

ros2 launch kobuki simulation.launch.py world:=install/aws_robomaker_small_warehouse_world/share/aws_robomaker_small_warehouse_world/worlds/small_warehouse/small_warehouse.world

Run a real kobuki

Run the kobuki drivers:

ros2 launch kobuki kobuki.launch.py

If you want to use a lidar or camera, you have to set the following parameters to true:

ros2 launch kobuki kobuki.launch.py lidar_a2:=true
ros2 launch kobuki kobuki.launch.py lidar_s2:=true
ros2 launch kobuki kobuki.launch.py xtion:=true
ros2 launch kobuki kobuki.launch.py astra:=true

Run Navigation in ROS 2

You can use Nav2 using robot with this launcher:

ros2 launch kobuki navigation.launch.py map:=<path-to-map>

or this other command if you need to navigate in the simulator

```bash

File truncated at 100 lines see the full file

Any contribution that you make to this repository will be under the Apache 2 License, as dictated by that license:

5. Submission of Contributions. Unless You explicitly state otherwise,
   any Contribution intentionally submitted for inclusion in the Work
   by You to the Licensor shall be under the terms and conditions of
   this License, without any additional terms or conditions.
   Notwithstanding the above, nothing herein shall supersede or modify
   the terms of any separate license agreement you may have executed
   with Licensor regarding such Contributions.