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Kobuki + RPLidar A2 Setup

Setup Kobuki base

  1. Connect the Kobuki to your laptop by USB (Switch On the robot)
  2. Check that the device has rw permission for dialout group, and you are in this group
ls /dev/ttyUSB0
id

If you are not in dialout group, add yourself to this group:

useradd ${USER} dialout

Logout and login again.

  1. Clone this repo in your workspace. Let's assume that your workspace is ~/ros2_ws
cd ~/ros2_ws/src
gir clone -b humble https://github.com/IntelligentRoboticsLabs/Robots.git
  1. Download the repos with the kobuki driver and utils
cd ~/ros2_ws/src
vcs import . < Robots/kobuki/third_parties.repos
  1. Try to install from packages as much dependencies as possible
cd ~/ros2_ws
rosdep install --from-paths src --ignore-src -r -y
  1. Compile the workspace
cd ~/ros2_ws
colcon build --symlink-install
  1. Source the workspace or open a new terminal (if sources in .bashrc)
  2. Use the kobuki utils to create the udev rules
cd src/ThirdParty/kobuki_ftdi
sudo mv 60-kobuki.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger
  1. Let's launch the kobuki driver to test that everything went ok

On terminal 1:

ros2 launch ir_kobuki kobuki_rplidar.launch.py

You should have listened a sound that indicates that the driver succesfully communicated with the robot. Check permissions otherwise

On terminal 2:

ros2 topic list

You should be seeing the topics

Setup RPLidar A2

The drivers have been already downloaded and built in the previous sections, but we need to manually create the udev rules

  1. Create the file /dev/udev.d/rplidar.xxx with this content
  2. restart udev
sudo udevadm control --reload-rules && sudo udevadm trigger
  1. Run the driver
ros2 launch rplidar_ros rplidar.launch.py
  1. Visualize the /scan topic in RViz2 (frame laser)

Launch everything

ros2 launch ir_kobuki kobuki_rplidar.launch.py

Open RViz2 and check TFs and Laser

Launch kobuki simulated

Pre-configuration

Move model to GAZEBO_MODEL_PATH

mkdir -p ~/.gazebo/models/ir_kobuki
cd <your-workspace>/src/Robots/kobuki/
cp -r models/ ~/.gazebo/models/ir_kobuki/models/meshes

Launch Gazebo & Kobuki

ros2 launch ir_kobuki sim.launch.py