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Simulated Kobuki Navigation Demo

New in hydro

How to start softkobuki

Soft kobuki is a fake kobuki node implementation which simulates iClebo Kobuki. It listens to /mobile_base/commands/velocity and broadcasts its joint states and odometry.

how to install/compile

Install Kobuki Soft Deb

> sudo apt-get install ros-hydro-kobuki-soft

Execution

> roslaunch kobuki_softnode full.launch

After this step, you should see the topics below when you do 'rostopic list'

• /joint_states
• /mobile_base/commands/motor_power
• /mobile_base/commands/velocity
• /mobile_base/version_info
• /odom
• /tf

See it in rviz

> rosrun rviz rviz

• set fixed frame '/odom'

• add RobotModel

Teleoperation

> roslaunch kobuki_keyop keyop.launch

Navigation Demo

installation

> sudo apt-get install ros-hydro-turtlebot-apps
> sudo apt-get install ros-hydro-turtlebot-viz
> sudo apt-get install ros-hydro-navigation
> sudo apt-get install ros-hydro-yujin-maps

Execution

> roslaunch kobuki_softapps nav_demo.launch

And set 2D Nav Goal in rviz!