Package Summary

Tags No category tags.
Version 1.1.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/kobuki-base/kobuki_core.git
VCS Type git
VCS Version devel
Last Updated 2020-08-10
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

C++ driver library for Kobuki: Pure C++ driver library for Kobuki. This is for those who do not wish to use ROS on their systems.

Additional Links

Maintainers

  • Daniel Stonier

Authors

  • Daniel Stonier
  • Younghun Ju
  • Jorge Santos Simon

Kobuki Driver

[Preparing the Connection]

This package provides pure c++ libraries for connecting to and building your own programs for the Kobuki.

Preparing The Connection

Kobuki's connection is via an FTDI USB-Serial converter (FT232R). For this to be functional:

  1. The kernel must have loaded or built in the ftdi_sio module. On most linux systems, e.g. Ubuntu, this comes by default. In contrast, for most embedded systems, you'll need to flag this when building your kernel.
  2. (Optional) Install the udev rule so that your Kobuki shows up on /dev/kobuki. If you have installed via deb, it will have installed this rule for you. Otherwise, download these sources and:
> sudo cp 60-kobuki.rules /etc/udev/rules.d
> sudo service udev reload
> sudo service udev restart

  1. Ensure you are in the correct group. You can discover this by tracing back from /dev/kobuki:
> ls -l /dev/kobuki
lrwxrwxrwx 1 root root 7 Jan 14 22:17 /dev/kobuki -> ttyUSB0
> ls - l /dev/ttyUSB0
crw-rw-rw- 1 root dialout 188, 0 Jan 14 22:17 /dev/ttyUSB0
> sudo addgroup $(USER) dialout

To troubleshoot further, refer to kobuki_ftdi/README.md.

CHANGELOG

Changelog

Forthcoming

  • ...

1.1.0 (2020-08-04)

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_driver : 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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged kobuki_driver at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.0
License BSD
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/kobuki-base/kobuki_core.git
VCS Type git
VCS Version release/1.0.x
Last Updated 2020-01-14
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

C++ driver library for Kobuki: Pure C++ driver library for Kobuki. This is for those who do not wish to use ROS on their systems.

Additional Links

Maintainers

  • Daniel Stonier

Authors

  • Daniel Stonier
  • Younghun Ju
  • Jorge Santos Simon
README
No README found. See repository README.
CHANGELOG

Changelog

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_driver : 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

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged kobuki_driver at answers.ros.org