Kobuki Core

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The Kobuki Core stack consists of c++ libraries and utilities for working with a Kobuki Robot.

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Documentation

The Kobuki ecosystem contains several repositories and packages that get bundled together. Refer to the documentation release relevant to the branch/version of kobuki_core you are using:

Kobuki Core Branch	Kobuki Documentation Release
devel	https://kobuki.readthedocs.io/en/devel/
release/1.2.x	https://kobuki.readthedocs.io/en/release-1.0.x/

Changelog

Forthcoming

• ...

1.4.1 (2024-06-13)

• [all] fix compilation on aarch64, #51

1.4.0 (2022-10-24)

• [demos] log levels demo added, #42
• [driver] bugfix major, minor, patch macro conflicts, #44
• [demos] style cleanups, #47
• [driver] grammar fixes, #47

1.3.1 (2020-09-15)

• [keyop] protect command variables with a mutex, #41
• [core] ros prefixes dropped, custom_logging & raw_data_stream demos, #40
• [infra] recommended firmware versions 1.1.4, 1.2.0, #37

1.3.0 (2020-09-12)

• [all] LegacyPose2D -> Vector3d, #36

1.2.0 (2020-08-30)

• [infra] kobuki_dock_drive and kobuki_driver merged into kobuki_core, #31
• [tools] kobuki_simple_keyop -> kobuki-simple-keyop, #35.
• [tools] kobuki_version_info -> kobuki-version-info, #35.

1.1.1 (2020-08-19)

• [udev] bugfix low latency ftdi operation, #28.
• [demos] added an event demo, also minor cleanup, #27.
• [infra] don't use system headers for dependencies, #27.

1.1.0 (2020-08-04)

• [infra] ament_export_interfaces -> ament_export_targets, #21.
• [driver] bugfix correct size for pyaload length lookup, #19 <<https://github.com/kobuki-base/kobuki_core/pull/19>>`_.
• [infra] license links updated, #15.

1.0.0 (2020-01-13)

• [infra] port and release for ROS2/Eloquent
• [infra] udev rule and debian installation thereof, #13.

0.8.1 (2019-01-09)

• remove unused and dodgy float builder, fixed uninitialised warnings, #53.

0.8.0 (2019-01-09)

• updated build infra for changes ament/eloquent

0.7.7 (2017-03-29)

• accel limiter variable initialisation bugfix

0.7.6 (2017-03-27)

• doxygen updates

0.7.4 (2017-02-23)

• drop spurious debugging cmake message that was throwing warnings

0.7.2 (2016-11-09)

• Pose2D -> LegacyPose2D

0.7.1 (2016-05-06)

• isnan -> std::isnan

0.6.3 (2016-05-06)

• bugfix cliff header packet

0.6.2 (2016-01-09)

• enable the cx11 compiler

0.6.0 (2014-08-04)

• add linear and angular test plot image
• kobuki_core : Updated doxygen. Issue #10.
• Contributors: Younghun Ju, jihoonl

0.5.3 (2013-09-06)

• Updated doxygen documentation.

0.5.2 (2013-08-31)

• Documentation and other text files reviewed.

0.5.1 (2013-08-30)

• Updated license info.
• Updated doxygen in the code.
• Update firmware_changelog.md.

0.5.0 (2013-08-29)

• Added debug topic of raw control command of robot.
• Removed debugging message.
• Updated doxygen about factory-default value of PID gain.
• Add firmware version checking on PID commands.
• Updated protocol specification in doxygen about custom PID gain setting.
• Updated doxygen script to let user do something when authentification of repository is failed.
• Bump minor version for firmware (new version is 1.2.0).
• Improved packet integrity checking. Issue #245.
• Added new protocol about custom PID gain setting. Issue #249.
• Updated doxygen.
• Removed ros logging code.
• Removed meaningless buffer size check in serialization of command packet.
• Fixed typo; mayor --> major.
• Added integrity check for each packets.
• Removed old printf codes.
• Removed meaningless buffer size check in serialization of packets.
• Fixed typo on update_doxygen.bash script.
• Added extra url info on all packages.
• Added brief description of update_doxygen.bash script.
• Added convenient script for automated update of doxygen document to the github.io page.
• Updated doxygen.
• Updated old rnd email address.
• Removed SetPower command packet from doxygen. It is not for external powers and unnecessary for kobuki.
• Corrected typos on doxygen about external power.
• lock api for protecting data access with asynchronous getXXX calls.
• Fix URL to the previous changelog wiki
• Changelogs at package level
• Reset odometry also for heading
• Updated raw_control_command topic to publish recevied command velocity also.
• Added a debug topic that publish actual base command sent to robot.
• Added simple_keyop application to control kobuki directly from keyboard without ROS.
• Fixed broken synchronity of base control command caused by recent bugfix of acceleration limiter module.
• Added flexible logging features to using named logging system of ros/log4cxx.
• Reset odometry also works for heading (gyro).
• Do not use robot_pose_ekf; use imu for heading and encoders for position.

0.4.0 (2013-08-09)

• Windows compatible.
• Update doxygen documentation for using wstool and for windows compilation.
• New scripts to help serve firmware and windows downloads from our file server.
• Delay demo program finish so kobuki can beep alive.
• Serial connection made much more robust.
• Install using wstool
• Update firmware_changelog.md with latest verions and rewrite with for markdown formatting.

Previous versions, bugfixing

Available in ROS wiki: http://ros.org/wiki/kobuki/ChangeList