Downloaded kobuki_desktop melodic branch from: https://github.com/yujinrobot/kobuki_desktop
Downloaded kobuki melodic branch from: https://github.com/yujinrobot/kobuki.git
Installed packages with:
sudo apt install ros-melodic-kobuki-*
sudo apt install ros-melodic-yocs-*
sudo apt install ros-melodic-ecl-streams
Run:
roslaunch kobuki_nav kobuki_empty_world.launch
roslaunch kobuki_nav race_rviz.launch
roslaunch kobuki_nav start_mpc.launch
Define a 2D goal in Rviz.