Get started

To learn how to use this package, take a look to the Kobuki automatic docking tutorial

ROS API

dock_drive

Converts IR signals from the docking station and odometry info into the velocity commands to guide robot to the docking station

Subscribed Topics

~odom (nav_msgs/Odometry)

• retrieves the robot's odometry info to calculate current location and next move

~core (kobuki_msgs/SensorState)

• retrieves the robot's sensor info to check charging state

~dock_ir (kobuki_msgs/DockInfraRed)

• retrieves IR signals from the docking station to identify robots relative position to the docking station

Published Topics

~motor_power (kobuki_msgs/MotorPower)

• turn on/off the power of kobuki's motor

~velocity (geometry_msgs/Twist)

• velocity commands to the robot to guide the robot to the docking station

Parameters

~min_abs_v (double, default: 0.01)

• minimal linear velocity of velocity commands to the robot in m/s

~min_abs_w (double, default: 0.1)

• minimal angular velocity of velocity commands to the robot in rad/s