Kobuki入门

 

Kobuki debs 包安装,Ecl和Yujin OCS包会一并安装

sudo apt-get install ros-noetic-kobuki ros-noetic-kobuki-core

　

配置别名

rosrun kobuki_ftdi create_udev_rules

　　

 

export ROS_MASTER_URI=http://192.168.11.108:11311
export ROS_HOSTNAME=192.168.11.108 

　　

 

 

测试

启动底盘

roslaunch kobuki_node minimal.launch　　

 

键盘控制

roslaunch kobuki_keyop keyop.launch

　　

 

 

roslaunch turbot_bringup minimal.launch

　　

 

 rosrun turbot_tools test_move

　　

 

echo "export TURTLEBOT_LASER_SENSOR=rplidar" >> ~/.bashrc

　　

 

 

roslaunch turbot_slam laser_gmapping_demo.launch

　　

 

roslaunch turbot_rviz nav.launch

　　

 

 

 

roslaunch turtlebot_navigation gmapping_demo.launch

　　

 

 

 

roslaunch turtlebot_rviz_launchers view_navigation.launch