ros melodic移植kobuki

Ros melodic移植kobuki

ubuntu18.04上支持的ros版本是melodic,而kobuki只支持kinetic，所以需要自己在ubuntu18.04上编译kobuki

以下为移植步骤

1. 建立工作空间并初始化

	mkdir -p kobuki_ws/src
	cd kobuki_sw/src & catkin_init_workspace

2. 下载源码
   从https://github.com/Miaowaaaa/Kobuki-ROS-Melodic下载kobuki_node,kobuki_keyop并放在kobuki_ws/src中
   从https://github.com/yujinrobot/kobuki下载kobuki_safety_controller放入kobuki_ws/src中
   执行命令添加依赖

sudo apt-get install ros-melodic-kobuki-core ros-melodic-kobuki-driver ros-melodic-kobuki-msgs ros-melodic-yocs-controllers ros-melodic-ecl-streams

3. 编译
   进入目录kobuki_ws,执行命令catkin_make编译，等待编译完成

4. 测试运行kobuki,接上kobuki底盘确保上电

设置环境变量

	source kobuki_ws/devel/setup.bash

启动kobuki_node节点

	roslaunch kobuki_node minimal.launch --screen

启动键盘控制器

	roslaunch kobuki_keyop keyop.launch --screen

kobuki源码下载

https://download.csdn.net/download/luguogege/12707378