Kobuki from Intelligent Robotics Lab using ROS 2

This project contains the launchers to run the Turtlebot2 Kobuki, both in simulated running different Gazebo worlds, as in the real robot using its drivers.

• Installation on your own computer
• Run the robot in ROS 2
  • Run Gazebo
  • Run a real kobuki
• Run Navigation in ROS 2
• About

Installation on your own computer

You need to have previously installed ROS2. Please follow this guide if you don’t have it.

source /opt/ros/jazzy/setup.bash

Clone the repository to your workspace:

cd <ros2-workspace>/src
git clone https://github.com/IntelligentRoboticsLabs/kobuki.git -b jazzy

Prepare your thirparty repos:

sudo apt update && sudo apt install ros-dev-tools -y
cd <ros2-workspace>/src/
vcs import < kobuki/thirdparty.repos

Please make sure that this last command has not failed. If this happens, run it again.

Install libusb, libftdi & libuvc

sudo apt install libusb-1.0-0-dev libftdi1-dev libuvc-dev

Install udev rules from astra camera, kobuki and rplidar

When you connect a piece of hardware to your pc, it assigns /dev/ttyUSB* to it. This will not have the necessary read/write permissions, so we will not be able to use it correctly. The solution is to set up some udev rules that creates a symlink with another name (example: /dev/ttyUSB0 -> /dev/kobuki) and grants it the necessary permissions.

cd <ros2-workspace>
sudo cp src/ThirdParty/ros_astra_camera/astra_camera/scripts/56-orbbec-usb.rules /etc/udev/rules.d/
sudo cp src/ThirdParty/rplidar_ros/scripts/rplidar.rules /etc/udev/rules.d/
sudo cp src/ThirdParty/kobuki_ros/60-kobuki.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger

Building project

sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install 

If your terminal has crashed or closed while compiling, please try compiling your packages as follows colcon build --symlink-install --parallel-workers 1 or do so by selecting the package that failed colcon build --symlink-install --parallel-workers 1 --packages-select <package>

Also, if you want to prevent it from recompiling that package, add a COLCON_IGNORE inside the package

Run the robot in ROS 2

Run Gazebo

You can launch the simulator as follows:

ros2 launch kobuki simulation.launch.py

Or you can add the path of your world to the world parameter like this:

ros2 launch kobuki simulation.launch.py world:=install/aws_robomaker_small_warehouse_world/share/aws_robomaker_small_warehouse_world/worlds/small_warehouse/small_warehouse.world

Run a real kobuki

Run the kobuki drivers:

ros2 launch kobuki kobuki.launch.py

If you want to use a lidar or camera, you have to set the following parameters to true:

ros2 launch kobuki kobuki.launch.py lidar_a2:=true
ros2 launch kobuki kobuki.launch.py lidar_s2:=true
ros2 launch kobuki kobuki.launch.py xtion:=true
ros2 launch kobuki kobuki.launch.py astra:=true

Run Navigation in ROS 2

You can use Nav2 using robot with this launcher:

ros2 launch kobuki navigation.launch.py map:=<path-to-map>

or this other command if you need to navigate in the simulator

ros2 launch kobuki navigation_sim.launch.py

If you want to use another map, you have to put the route in the map parameter

Multi-Robot setup

If you want to launch a system with multiple robots, you can follow the instructions in launch/multirobot/README.md. Note: Right now only the simulation mode is supported for the Multi-Robot setup.

About

This is a project made by the Intelligent Robotics Lab, a research group from the Universidad Rey Juan Carlos. Copyright © 2024.

Maintainers:

• Juan Carlos Manzanares