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== Overview ==

This package currently holds the plugin for the Kobuki ROS Gazebo interface.

=== Kobuki ROS Gazebo plugin ===

This plugin handles the exchange of data between the Kobuki simulation in Gazebo and the ROS world. Important functionalities of the real Kobuki have been implemented:

 * Publishing
  * bumper events
  * cliff detection events
  * odometry data
  * IMU data
  * tf data for the base position
 * Retrieving
  * velocity commands
  * motor state commands

=== Configuration ===

The plugin is configured throught the parameters given in the URDF description. See the [[kobuki_description]] for details.

=== Usage ===

Have a look at the [[kobuki_gazebo]] package to find out how to use this plugin.

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