Note: This tutorial assumes that you have completed the previous tutorials: Diagnostics.
(!) Please ask about problems and questions regarding this tutorial on Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Make it move

Description: Unleash the turtle and start exploring

Keywords: kobuki, move, keyop

Tutorial Level: BEGINNER

  Show EOL distros: 


Checking sensor, swapping batteries, ... that's all right. But driving around Kobuki is much more fun! Here we go!


# First shell
$ roslaunch kobuki_node minimal.launch --screen
# Second shell
$ roslaunch kobuki_keyop safe_keyop.launch --screen

Remark: There is also a normal keyop launcher (keyop.launch). The difference between both is, that safe_keyop makes use of a velocity smoother and Kobuki's safety controller. The latter uses the bumpers, cliff and wheel drop sensors to allow safe operation. Read more about Kobuki's control system in the advanced tutorials here.

Have fun

Just make sure, that the terminal in which you have launched the keyop app is active/highlighted and follow the output explanation to drive Kobuki around.

[ INFO] [1355024590.413675538]: KeyOp: connected.
Reading from keyboard
Forward/back arrows : linear velocity incr/decr.
Right/left arrows : angular velocity incr/decr.
Spacebar : reset linear/angular velocities.
d : disable motors.
e : enable motors.
q : quit.

Wiki: kobuki/Tutorials/Make it move (last edited 2017-03-29 02:31:02 by DanielStonier)