KTH-RPL kobuki robot

Why we need this?

1. kobuki is produced in 2015 which is really far away, this repo will only provide the thing you can run the kobuki robot [maunal control using the keyboard or remote control].
2. This is for us to collect our own dataset mainly indoor, or tested our algorithm in a real robot.
3. IF YOU DIRECTLY USE THE KOBUKI FROM KIN, there is no need to set up from this README. Otherwise, Please go install readme to setup

Test System: Ubuntu 20.04 noetic

Test Day: 2023/03/09 17:53

Author: Kin ZHANG https://kin-zhang.github.io/

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Sensor setup:

• Velodyne VLP-16
• Livox Mid-70

Will add more... like camera (rgb/depth).

Picture of it:

Build & Run

NOTE AGAIN: If you reinstall the whole thing. Please check install readme.

When you open the NUC, Here are the path the driver and kobuki code are.

turtle@turtle-nuc /home/turtle/workspace/kobuki_ws

Control Manual, Here is the button said [F710 is the gampad we used]:

• 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

Build

cd /home/turtle/workspace/kobuki_ws
catkin build
source /home/turtle/workspace/kobuki_ws/devel/setup.zsh

Run

# roscore & sensor driver for velodyne and livox
./home/turtle/workspace/kobuki_ws/src/kobuki/assets/run_sensor.sh

# kobuki driver for run
./home/turtle/workspace/kobuki_ws/src/kobuki/assets/run_kobuki.sh

If you want to record thing, Please check this script file also:

./home/turtle/workspace/kobuki_ws/src/kobuki/assets/record.sh

Optiona 2: Run it one by one:

1. Open Joy:

   roslaunch teleop_twist_joy teleop.launch

2. Open kobuki:

   roslaunch kobuki_node minimal.launch

3. Open Livox [If you setup from the start, please correct the ip addr in Network setting]:

   roslaunch livox_ros_driver livox_kobuki.launch

4. Open Velodyne [If you setup from the start, please correct the ip addr in Network setting]:

   roslaunch velodyne_pointcloud VLP16_points.launch

Demo of Running and sensor

Here are some demo we used in kobuki or the data kobuki collected.

SLAM

Do some slam thing, this simple package you can try simple_ndt_slam. This one is in TR14 6 floor:

ezgif.com-gif-maker.mp4

Perception

TODO

DUFOMap

TODO

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