- Dockerhub image https://hub.docker.com/r/cognimbus/kobuki_driver
- Supported architectures arm64/amd64
- ROS version melodic
- Yujin Kobuki robot driver git: https://github.com/cognimbus/nimbus.library/tree/master/Library/Components/kobuki-driver License: BSD
docker run -it --network=host cognimbus/kobuki_driver roslaunch kobuki_launch kobuki.launch base:=kobuki base_frame:=base_link stacks:=hexagons 3d_sensor:=r200 serialport:=/dev/ttyUSB0 kobuki_publish_tf:=true undocking_duration_seconds:=3
| ROS topic | type |
|---|---|
| /start_stop_auto_docking | std_msgs/Bool |
| /undock_from_charger | std_msgs/Bool |
| /mobile_base/commands/velocity | geometry_msgs/Twist |
| /mobile_base/commands/digital_output | kobuki_msgs/DigitalOutput |
| ROS topic | type |
|---|---|
| /odom | nav_msgs/Odometry |
| /mobile_base/sensors/imu_data | sensor_msgs/Imu |
| /mobile_base/events/cliff | kobuki_msgs/CliffEvent |
| /mobile_base/events/bumper | kobuki_msgs/BumperEvent |
| /mobile_base/sensors/bumper_pointcloud | sensor_msgs/PointCloud2 |
| /battery_voltage | std_msgs/Int32 |
| /docking_feedback_string | std_msgs/String |
| /is_charging_in_docking_station | std_msgs/Bool |
This node does not require tf
This node does not provide tf