Kobuki debs 包安装,Ecl和Yujin OCS包会一并安装
sudo apt-get install ros-noetic-kobuki ros-noetic-kobuki-core
配置别名
rosrun kobuki_ftdi create_udev_rules
export ROS_MASTER_URI=http://192.168.11.108:11311 export ROS_HOSTNAME=192.168.11.108
测试
启动底盘
roslaunch kobuki_node minimal.launch
键盘控制
roslaunch kobuki_keyop keyop.launch
roslaunch turbot_bringup minimal.launch
rosrun turbot_tools test_move
echo "export TURTLEBOT_LASER_SENSOR=rplidar" >> ~/.bashrc
roslaunch turbot_slam laser_gmapping_demo.launch
roslaunch turbot_rviz nav.launch
roslaunch turtlebot_navigation gmapping_demo.launch
roslaunch turtlebot_rviz_launchers view_navigation.launch