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Installation
Description: Installing and preparing everything from scratch.Keywords: kobuki, software installation
Tutorial Level: BEGINNER
Next Tutorial: Examine Kobuki
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Prerequisites
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This has only been tested on ubuntu precise 64 bit systems.
# Basic ROS > sudo apt-get install python-rosinstall python-rosdep ros-fuerte-desktop-full # For the robot > sudo apt-get install ros-fuerte-turtlebot ros-fuerte-turtlebot-apps ros-fuerte-control > sudo apt-get install ros-fuerte-ecl-tools ros-fuerte-ecl-lite ros-fuerte-ecl-core ros-fuerte-ecl-navigation > sudo apt-get install ros-fuerte-warehousewg > sudo apt-get install ros-fuerte-turtlebot-viz # For desktop simulations and remote connections > sudo apt-get install ros-fuerte-turtlebot-viz ros-fuerte-simulators
- Install sources
> rosinstall /opt/kobuki https://raw.github.com/yujinrobot/kobuki/fuerte/kobuki_fuerte.rosinstall > source /opt/kobuki/setup.bash > rosdep install kobuki_bringup kobuki_apps > rosmake kobuki_bringup kobuki_apps
Netbook
Kobuki base identifies with an internal ftdi chip that has a serial id 'kobuki'. So we just need to copy a udev rule and restart udev.
> roscd kobuki_udev > make udev # this will run 'sudo' and ask for a password
Also stop zeroconf's init script checking (and sometimes aborting) on startup. Change /etc/default/avahi-daemon
AVAHI_DAEMON_DETECT_LOCAL=0
Android
Kobuki currently works with android_teleop, chirp, make_a_map and map_nav.
- Download 'App Chooser'
Troubleshooting
As explained in this ROS answer, openni_launch is not working properly in fuerte + ubuntu precise 12.04.The easy fix to this is installing the openni-dev unstable and ps-engine avin2 for Ubuntu Precise 64bit debs available here. I would recommend a reboot after installing these because there is a kernel module blacklist and udev rules in ps-engine.
Even after this update, openni drive still fails sometimes. This happens when the XnSensorServer is still running after kinect.launch shutdown. It will normally work if you just relaunch it, or if not kill the XnSensorServer:
killall -s 9 XnSensorServer
