kobuki ROS 2 demo

Install Dependencie

git clone https://github.com/bigdayangyu/kobuki_navigation.git
vcs import src <kobuki_demo.repos

kobuki Robot

kobuki bring up

• Launch the kobuki robot by exicuting the kobuki_node.cpp
• bring up the hukoyo laser scanner by calling the urg_node
• launch robot urdf description for static transformations of the robot

ros2 launch kobuki_navigation kobuki_bringup.launch.py 

Kobuki Docking

When the kobuki robot reaches the docking station, and the front bumper is in contact with the charging station for 5 seconds, the bumper trigger will send out a message through the bumper_event topic to let other node know that kobuki has reached the docking station.

ros2 run kobuki_navigation bumper_trigger

Launch the kobuki cartographer demo in ROS2

• launch turtlebo2_driver with kobuki_node
• urg_node laser scan
• Set up tf transformation from base_link to laser
• launch rviz2 for visualization
• launch cartographer_node and occupancy_grid_node

ros2 launch kobuki_navigation kobuki_demo.launch.py 

Control the robot

ros2 run teleop_twist_keyboard teleop_twist_keyboard

Save the map

ros2 run nav2_map_server map_saver -f ~/map_name 

Gazebo Simulation

Bring up the robot in Gazebo simulation

ros2 launch kobuki_gazebo_demo kobuki_empty_world.launch.py use_sim_time:=True # load a empty world with the robot 

ros2 launch kobuki_gazebo_demo kobuki_SYV_office.launch.py use_sim_time:=True   # simulation of the SYV office 

ros2 launch kobuki_gazebo_demo kobuki_obstacle.launch.py use_sim_time:=True # load robot and small obstacles 

Run cartographer in simulation

ros2 launch kobuki_navigation kobuki_gazebo_carto.launch.py use_sim_time:=True

Navigation stack for ROS2

• If runing in simulation, set the use_sim_time to be True
• Set the PATH to the saved map
• Click the 2D Pose Esitimation to set the initial pose of the robot
• Click Navigation2 goal to set the goal point of the robot
• Click start to navigate

ros2 launch kobuki_navigation kobuki_nav2_map.launch.py use_sim_time:=false map:=/PATH/map.yaml autostart:=True

TODO dependencies