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  Show EOL distros: 

kobuki: kobuki_arm | kobuki_auto_docking | kobuki_bumper2pc | kobuki_controller_tutorial | kobuki_driver | kobuki_ftdi | kobuki_keyop | kobuki_node | kobuki_safety_controller | kobuki_testsuite

Package Summary

Automatic docking for Kobuki: Users owning a docking station for Kobuki can use this tool to let Kobuki find its nest autonomously.

  • Maintainer status: developed
  • Maintainer: Younghun Ju <younghoon.ju AT yujinrobot DOT com>
  • Author: Younghun Ju <younghoon.ju AT yujinrobot DOT com>
  • License: BSD
  • Source: git https://github.com/yujinrobot/kobuki.git (branch: groovy-devel)
kobuki: kobuki_auto_docking | kobuki_bumper2pc | kobuki_controller_tutorial | kobuki_description | kobuki_keyop | kobuki_node | kobuki_random_walker | kobuki_safety_controller | kobuki_testsuite

Package Summary

Automatic docking for Kobuki: Users owning a docking station for Kobuki can use this tool to let Kobuki find its nest autonomously.

New in groovy

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

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


2019-06-08 12:54