Kobuki in ROS 2 Jazzy & Rolling + Gazebo Harmonic

General
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Hello everyone!

Let me introduce myself, my name is Juan Carlos Manzanares and I belong to a robotics research group called Intelligent Robotics Lab , belonging to the Rey Juan Carlos University, Madrid, Spain. In this group we develop some projects, such as MOCAP4ROS2 , PlanSys2 , CascadeLifecycle, marathon for nav2 , robocups, go2_robot, tiago_harmonic…

Today I would like to show you a package that we have prepared to be able to install and use TurtleBot2 Kobuki in a more comfortable way, either with a real robot or using the new gazebo simulator.

This package directly uses the kobuki_ros packages, which have been tested and prepared so that they can be used in the Jazzy and Rolling versions. In addition, I have retouched the urdf to my liking, so that in a more comfortable way you can add/remove the camera and lidar sensors, the structure, or indicate whether or not you are going to use the gazebo plugin.

Finally, it is also prepared so that you can launch Navigation2 from the package.

This package is being used by students from the Rey Juan Carlos University, and I hope it will be useful to all of you who have a kobuki and don’t know what to do with it. And of course, we are open to any PR to make everything work better, any problem you find, or to clarify the steps much more.

Thank you very much for reading the post and I hope it helps many of you.

Greetings.

7 Likes
2

Hi @Juancams

Awesome project. I was wondering, the RGB-D camera sensor used with Kuboki, how was it implemented in Gazebo Harmonic i.e. does it have a plugin package similar to realsense_gazebo_plugin?

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Hi!

I can’t tell you the truth, I think the kobuki package was using the simple classic gazebo plugin, and all I did was follow the migration guide, keeping the same parameters.

I suppose the plugin you sent is similar, but adding the same parameters that would be used to configure a realsense d435.

4

My English is poor. Can you tell me about Chinese?

---- Replied Message ----

From | Juan Carlos Manzanares Serrano via ROS Discoursenotifications@ros.discoursemail.com |

  • | - |
    Date | 10/31/2024 23:05 |
    To | 18774757784@163.com |
    Cc | |
    Subject | [ROS Discourse] [General] Kobuki in ROS 2 Jazzy & Rolling + Gazebo Harmonic |

| Juancams
October 31 |

  • | - |

Hi!

I can’t tell you the truth, I think the kobuki package was using the simple classic gazebo plugin, and all I did was follow the migration guide, keeping the same parameters.

I suppose the plugin you sent is similar, but adding the same parameters that would be used to configure a realsense d435.