Hardware:
- Kobuki base
- Power supply cable (for recharging)
- USB cable
More information such as User Guide and Manual Installation steps can be found in this post.
Clone the repo:
git clone https://github.com/j3soon/docker-ros-kobuki.git
cd docker-ros-kobuki
Installation of udev rules must be done on the host machine:
./setup_udev_rules.sh
You should see done
if everything works correctly.
sudo apt-get update && sudo apt-get install -y docker.io docker-compose
# Connect and power on kobuki
./docker-compose.sh up -d
./docker-exec-bringup.sh
# Open a new terminal
./docker-exec-teleop.sh
# Control kobuki with keyboard
# Press Ctrl+C to exit
./docker-compose.sh shutdown
The pre-built docker images will be pulled automatically.
Although the docker container support hot plugging, if Kobuki is re-plugged or re-booted, you still need to re-run the following commands:
./docker-exec-bringup.sh
./docker-exec-teleop.sh
-
On amd64 machine:
docker build -f Dockerfile -t j3soon/ros-melodic-kobuki:latest .
-
On arm64 machine:
docker build -f Dockerfile.jetson -t j3soon/ros-melodic-kobuki:latest .
If you want to build an image that supports multiple architectures, please refer to the build workflow.
thirdparty/install_basic.sh
is copied from: https://github.com/gaunthan/Turtlebot2-On-Melodic/blob/master/install_basic.sh (commit a98834a)thirdparty/60-kobuki.rules
is copied from: https://github.com/kobuki-base/kobuki_core/blob/devel/60-kobuki.rules (commit e2f0fea)
Last tested manually on 2023/05/24:
- Ubuntu 18.04.6 LTS (amd64) on Intel CPU
- Ubuntu 20.04.5 LTS (arm64) on Jetson AGX Xavier (Jetpack 5.1.1)
Last tested manually on 2023/05/19:
- Ubuntu 22.04.2 LTS (amd64) on AMD CPU
- Most command failures can be resolved by simply re-running the command or rebooting Kobuki.