Difference between iRobot Create and Kobuki connect file

asked 2015-09-19 06:10:32 -0500

rubber bread gravatar image

Hi,all I use kobuki robot. Recently I have a problem. I read ros-by-example recently , and I found that the .launch file that connect robot(roslaunch rbx1_bringup turtlebot_minimal_create.launch) can't connect my kobuki robot. I don't know how to fix it.Any one can help me ? following is the file turtlebot_minimal_create.launch script

  <arg name="base"       default="create"/>  <!-- create, rhoomba -->
  <arg name="battery"    default="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>  <!-- /proc/acpi/battery/BAT0 -->
  <arg name="stacks"     default="circles"/>  <!-- circles, hexagons -->
  <arg name="3d_sensor"  default="asus_xtion_pro"/>  <!-- kinect, asus_xtion_pro -->
  <arg name="simulation" default="$(optenv TURTLEBOT_SIMULATION false)"/>

  <param name="/use_sim_time" value="$(arg simulation)"/>

  <include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
    <arg name="base" value="$(arg base)" />
    <arg name="stacks" value="$(arg stacks)" />
    <arg name="3d_sensor" value="$(arg 3d_sensor)" />

  <include file="$(find rbx1_bringup)/launch/includes/tb_create_mobile_base.launch.xml" />

  <include file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml">
    <arg name="battery" value="$(arg battery)" />

This is my own kobuki connect launch file script

  <arg name="mobile_base" default="$(optenv MOBILE_BASE create)"/>
  <!-- create, kobuki -->
  <arg name="base_port" default="$(optenv BASE_PORT /dev/ttyUSB0)"/>
  <!-- /dev/ttyUSB0, /dev/ttyS0 -->

  <param name="/use_sim_time" value="false"/>

  <!-- mobile base setting -->
  <include file="$(find aicroboxi_bringup)/launch/includes/$(arg mobile_base)/mobile_base.launch.xml">
    <arg name="base_port" value="$(arg base_port)" />

  <!-- aicroboxi_description -->
  <include file="$(find aicroboxi_description)/launch/robot_description.launch.xml">
    <arg name="mobile_base" value="$(arg mobile_base)" />

Thanks again!

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