The basic_kobuki workspace type has a freely moving robot that is a simple combination of a Kobuki mobile base, a Raspberry Pi, and laser range finder. It is contained in a space that can be different among deployments of this type; however, in all cases, it is indoors in an office-like environment.
The workspace type has two compute nodes:
rrc0: offboard (physically outside the reachable space); x86_64 GNU/Linux box.
rrc1: mounted onboard the robot; small, low-power ARM board (armv7l).
There are two webcams attached and visible from the device files
The Kobuki mobile platform and Hokuyo laser scanner are both attached via USB. In the default image, the home directory contains the roslaunch file robot.launch. This file starts a ROS Kinetic configuration for using the robot. It uses the ROS packages urg_node and kobuki_node.
Bill of materials
Photographs of a deployment
- initial release
-- Scott C. Livingston <(hidden)> Tue, 28 Aug 2018