Hi. I am trying to control Kobuki using Apalis T30 board running tegra-linux (modified Ubuntu 12.04 precise). I am experiencing some difficulties for which I was hoping I can get help.
The usb port that the Kobuki is connected to is of the form /dev/usbdevxx, which I specify in the kobuki_node/param/base.yaml file.
So after running roslaunch kobuki_node minimal.launch
, I get the following output:
[ INFO] [1476532730.366343253]: Loading nodelet /mobile_base of type kobuki_node/KobukiNodelet to manager mobile_base_nodelet_manager with the following remappings:
[ INFO] [1476532730.366834253]: /mobile_base/joint_states -> /joint_states
[ INFO] [1476532730.367049253]: /mobile_base/odom -> /odom
process[diagnostic_aggregator-4]: started with pid [1350]
[ WARN] [1476532730.860578253]: Kobuki : no robot description given on the parameter server
[ INFO] [1476532730.861149253]: Kobuki : configured for connection on device_port /dev/usbdev1.3 [/mobile_base].
[ INFO] [1476532730.861359253]: Kobuki : driver running in normal (non-simulation) mode [/mobile_base].
[ INFO] [1476532730.869143253]: Kobuki : Velocity commands timeout: 0.600000000 seconds [/mobile_base].
[ INFO] [1476532730.873516252]: Kobuki : using odom_frame [odom][/mobile_base].
[ INFO] [1476532730.877992253]: Kobuki : using base_frame [base_footprint][/mobile_base].
[ INFO] [1476532730.882106253]: Kobuki : publishing transforms [/mobile_base].
[ INFO] [1476532730.886141252]: Kobuki : using imu data for heading [/mobile_base].
[ WARN] [1476532731.151980253]: Kobuki : no data stream, is kobuki turned on?
[ INFO] [1476532731.152723253]: Kobuki : initialised.
And subscribing to topics, or publishing to command topics does not do anything. When the Kobuki is connected to a PC it works properly.
I will post the output of commands as per: http://rosindex.github.io/p/kobuki_ftdi/ in case it is helpful:
cat /dev/kobuki
No /dev/kobuki, but I guess specifying the port explicitly in the base.yaml should work.
lsusb
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 002 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 001 Device 003: ID 0403:6001 Future Technology Devices International, Ltd FT232 USB-Serial (UART) IC
Bus 002 Device 002: ID 8087:07dc Intel Corp.
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
sudo ./get_serial_number
1 device(s) found.
Device #0
Manufacturer : Yujin Robot
Product : iClebo Kobuki
Serial Number: kobuki_kobuki_AH02IGKG
Also worth mentioning is that since it is a modified Ubuntu 12.04 system, ROS Hydro is being used. Any help would be appreciated.