C++ drivers and utilities for the kobuki base
License: Other
The Kobuki Core stack consists of c++ libraries and utilities for working with a Kobuki Robot.
The Kobuki ecosystem contains several repositories and packages that get bundled together. Refer to the documentation release relevant to the branch/version of kobuki_core you are using:
| Kobuki Core Branch | Kobuki Documentation Release |
|---|---|
| devel | https://kobuki.readthedocs.io/en/devel/ |
| release/1.2.x | https://kobuki.readthedocs.io/en/release-1.0.x/ |
Victory Conditions
Resolve the following ecl issues:
Conversion
Currently Kobuki outputs a human-_un_friendly measurement for the distance to the floor in case a cliff is detected (see kobuki_msgs/CliffEvent -> bottom).
The current output is the A/D-value of the sensor (Integer, 0 - 4095) and doesn't allow the users to related to an actual distance (e.g. in meters).
I suggest we add a conversion to the driver to output the mesured distance in meter.
Threshold
Currently thresholded at 8cm in firmware, too much for turtlebot. 4cm better.
Details
Conversion : put a lookup table in kobuki driver and publish both analog and converted values (converted will lose accuracy)
https://github.com/kobuki-base/kobuki_core/runs/2524102431?check_suite_focus=true
No useful error reporting from that...just dies. Spurious flake?
It looks like the last commit introduced a regression on armv7, when trying to build with -Werror.
Compiler:
c++ (Ubuntu/Linaro 7.5.0-3ubuntu1~18.04) 7.5.0
Copyright (C) 2017 Free Software Foundation, Inc.
This is free software; see the source for copying conditions. There is NO
warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
Console output below:
In file included from /root/kobuki_ws/src/kobuki_core/src/driver/../../include/kobuki_core/packets/firmware.hpp:25:0,
from /root/kobuki_ws/src/kobuki_core/src/driver/firmware.cpp:14:
/root/kobuki_ws/src/kobuki_core/src/driver/../../include/kobuki_core/packets/../version_info.hpp:57:13: error: In the GNU C Library, "major" is defined
by <sys/sysmacros.h>. For historical compatibility, it is
currently defined by <sys/types.h> as well, but we plan to
remove this soon. To use "major", include <sys/sysmacros.h>
directly. If you did not intend to use a system-defined macro
"major", you should undefine it after including <sys/types.h>. [-Werror]
static int major(const uint32_t &version) {
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/kobuki_ws/src/kobuki_core/src/driver/../../include/kobuki_core/packets/firmware.hpp:25:0,
from /root/kobuki_ws/src/kobuki_core/src/driver/firmware.cpp:14:
/root/kobuki_ws/src/kobuki_core/src/driver/../../include/kobuki_core/packets/../version_info.hpp:61:13: error: In the GNU C Library, "minor" is defined
by <sys/sysmacros.h>. For historical compatibility, it is
currently defined by <sys/types.h> as well, but we plan to
remove this soon. To use "minor", include <sys/sysmacros.h>
directly. If you did not intend to use a system-defined macro
"minor", you should undefine it after including <sys/types.h>. [-Werror]
static int minor(const uint32_t &version) {
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/root/kobuki_ws/src/kobuki_core/src/driver/../../include/kobuki_core/packets/../version_info.hpp:73:13: error: In the GNU C Library, "major" is defined
by <sys/sysmacros.h>. For historical compatibility, it is
currently defined by <sys/types.h> as well, but we plan to
remove this soon. To use "major", include <sys/sysmacros.h>
directly. If you did not intend to use a system-defined macro
"major", you should undefine it after including <sys/types.h>. [-Werror]
ss << major(version) << "." << minor(version) << "." << patch(version);
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/root/kobuki_ws/src/kobuki_core/src/driver/../../include/kobuki_core/packets/../version_info.hpp:73:13: error: In the GNU C Library, "minor" is defined
by <sys/sysmacros.h>. For historical compatibility, it is
currently defined by <sys/types.h> as well, but we plan to
remove this soon. To use "minor", include <sys/sysmacros.h>
directly. If you did not intend to use a system-defined macro
"minor", you should undefine it after including <sys/types.h>. [-Werror]
In file included from /root/kobuki_ws/src/kobuki_core/src/driver/firmware.cpp:14:0:
/root/kobuki_ws/src/kobuki_core/src/driver/../../include/kobuki_core/packets/firmware.hpp:54:13: error: In the GNU C Library, "major" is defined
by <sys/sysmacros.h>. For historical compatibility, it is
currently defined by <sys/types.h> as well, but we plan to
remove this soon. To use "major", include <sys/sysmacros.h>
directly. If you did not intend to use a system-defined macro
"major", you should undefine it after including <sys/types.h>. [-Werror]
int majorVersion() const { return VersionInfo::major(data.version); }
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /root/kobuki_ws/src/kobuki_core/src/driver/firmware.cpp:14:0:
/root/kobuki_ws/src/kobuki_core/src/driver/../../include/kobuki_core/packets/firmware.hpp:55:13: error: In the GNU C Library, "minor" is defined
by <sys/sysmacros.h>. For historical compatibility, it is
currently defined by <sys/types.h> as well, but we plan to
remove this soon. To use "minor", include <sys/sysmacros.h>
directly. If you did not intend to use a system-defined macro
"minor", you should undefine it after including <sys/types.h>. [-Werror]
int minorVersion() const { return VersionInfo::minor(data.version); }
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/root/kobuki_ws/src/kobuki_core/src/driver/firmware.cpp:106:13: error: In the GNU C Library, "major" is defined
by <sys/sysmacros.h>. For historical compatibility, it is
currently defined by <sys/types.h> as well, but we plan to
remove this soon. To use "major", include <sys/sysmacros.h>
directly. If you did not intend to use a system-defined macro
"major", you should undefine it after including <sys/types.h>. [-Werror]
int recommended_major_version = VersionInfo::major(version);
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
/root/kobuki_ws/src/kobuki_core/src/driver/firmware.cpp:107:13: error: In the GNU C Library, "minor" is defined
by <sys/sysmacros.h>. For historical compatibility, it is
currently defined by <sys/types.h> as well, but we plan to
remove this soon. To use "minor", include <sys/sysmacros.h>
directly. If you did not intend to use a system-defined macro
"minor", you should undefine it after including <sys/types.h>. [-Werror]
int recommended_minor_version = VersionInfo::minor(version);
^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
cc1plus: all warnings being treated as errors
Hi,
I'm trying to compile kobuki_core for ros2 humble.
I git cloned the package list
https://github.com/stonier/sophus <- release/1.3.x
https://github.com/stonier/ecl_tools
https://github.com/stonier/ecl_lite
https://github.com/stonier/ecl_core
https://github.com/kobuki-base/cmd_vel_mux
https://github.com/kobuki-base/kobuki_core
https://github.com/kobuki-base/kobuki_ros
https://github.com/kobuki-base/kobuki_ros_interfaces
Then I issued colcon build and got an error when compiling kobuki_core
--- stderr: kobuki_core
In file included from /home/ubuntu/ros2_ws/install/sophus/include/sophus/types.hpp:7,
from /home/ubuntu/ros2_ws/install/sophus/include/sophus/rotation_matrix.hpp:9,
from /home/ubuntu/ros2_ws/install/sophus/include/sophus/so3.hpp:6,
from /home/ubuntu/ros2_ws/install/sophus/include/sophus/se3.hpp:6,
from /home/ubuntu/ros2_ws/install/ecl_linear_algebra/include/ecl/linear_algebra/sophus.hpp:15,
from /home/ubuntu/ros2_ws/install/ecl_linear_algebra/include/ecl/linear_algebra.hpp:25,
from /home/ubuntu/ros2_ws/install/ecl_geometry/include/ecl/geometry/pose2d.hpp:21,
from /home/ubuntu/ros2_ws/install/ecl_geometry/include/ecl/geometry.hpp:20,
from /home/ubuntu/ros2_ws/src/kobuki_core/src/driver/../../include/kobuki_core/modules/diff_drive.hpp:23,
from /home/ubuntu/ros2_ws/src/kobuki_core/src/driver/diff_drive.cpp:14:
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:206:45: error: ISO C++11 requires at least one argument for the "..." in a variadic macro [-Werror]
206 | SOPHUS_ENSURE(is_valid_, "must be valid");
| ^
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:139:69: error: ISO C++11 requires at least one argument for the "..." in a variadic macro [-Werror]
139 | SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL(SOPHUS_FUNCTION, __FILE__, __LINE__, \
| ^~~~~~~~
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:139:69: note: in definition of macro ‘SOPHUS_ENSURE’
139 | SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL(SOPHUS_FUNCTION, __FILE__, __LINE__, \
| ^~~~~~~~
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:211:45: error: ISO C++11 requires at least one argument for the "..." in a variadic macro [-Werror]
211 | SOPHUS_ENSURE(is_valid_, "must be valid");
| ^
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:139:69: error: ISO C++11 requires at least one argument for the "..." in a variadic macro [-Werror]
139 | SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL(SOPHUS_FUNCTION, __FILE__, __LINE__, \
| ^~~~~~~~
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:139:69: note: in definition of macro ‘SOPHUS_ENSURE’
139 | SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL(SOPHUS_FUNCTION, __FILE__, __LINE__, \
| ^~~~~~~~
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:216:45: error: ISO C++11 requires at least one argument for the "..." in a variadic macro [-Werror]
216 | SOPHUS_ENSURE(is_valid_, "must be valid");
| ^
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:139:69: error: ISO C++11 requires at least one argument for the "..." in a variadic macro [-Werror]
139 | SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL(SOPHUS_FUNCTION, __FILE__, __LINE__, \
| ^~~~~~~~
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:139:69: note: in definition of macro ‘SOPHUS_ENSURE’
139 | SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL(SOPHUS_FUNCTION, __FILE__, __LINE__, \
| ^~~~~~~~
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:221:45: error: ISO C++11 requires at least one argument for the "..." in a variadic macro [-Werror]
221 | SOPHUS_ENSURE(is_valid_, "must be valid");
| ^
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:139:69: error: ISO C++11 requires at least one argument for the "..." in a variadic macro [-Werror]
139 | SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL(SOPHUS_FUNCTION, __FILE__, __LINE__, \
| ^~~~~~~~
/home/ubuntu/ros2_ws/install/sophus/include/sophus/common.hpp:139:69: note: in definition of macro ‘SOPHUS_ENSURE’
139 | SOPHUS_DEDAULT_ENSURE_FAILURE_IMPL(SOPHUS_FUNCTION, __FILE__, __LINE__, \
.............
If I'm not wrong, due to the ecl_enable_cxx14_compiler() , the CMAKE_CXX_STANDARD is set to C++14.
I do not know if this is the correct fix , but then I added set(CMAKE_CXX_STANDARD 20) just after the ecl_enable_xxxxx in the kobuki_core/CMakeLists.txt and then the compilation succeded.
It has something to do with variadic macros and I blindly applied this standard change by going through this gnu gcc doc page telling C++20 is less restrictive on variadic macros.
Remember to drop kobuki_ftdi when doing so.
Victory Conditions
Victory Conditions
Goal
User documentation in sphinx, code documentation in doxygen.
Resources
Old documentation:
Looks like there is a nice read-the-docs version made by the Dabit lads:
Victory Conditions
github.ioros_ prefix for sigslot channels ros_debug, ros_info ros_warn and ros_error →simple_loop_control already covered) →kobuki_node to refer to the new names and set the log_level to NONE → kobuki-base/kobuki_ros#16Victory Conditions
Example: #19
Odd, has exactly same setup as for splintered_reality. ECL packages also still working.
It is should be "num = size_length_field" in file "kobuki_core/kobuki_driver/src/driver/packet_finder.cpp" line 93, not be "num = size_checksum_field"?
Victory Conditions
.repos file exists in the root of this repo → #22Was originally in kobuki_ftdi, but to alleviate the dependency on that package (requires libusb etc), need to migrate that functionality here.
Victory Conditions
kobuki_driverTodo comments therein.
From @flashpaul
I am currently using the Kobuki Core driver (hydro branch) and I am wondering if it is possible to remove the sound that plays whenever the driver is launched (or stopped) on the robot.
See: https://build.ros2.org/job/Ibin_uJ64__kobuki_core__ubuntu_jammy_amd64__binary/34/console
Consider disabling -Wpendantic?
Hello,
I'm exploring how to connect our turtlebot2 to ROS2 ( foxy ). I tried to use kobuki simple keyop, as provided by this repository, and it works well to control the robot but the current pose functionality seems to be broken, as the values never change:
$ kobuki-simple-keyop
Simple Keyop : Utility for driving kobuki by keyboard.
Parameters
----------
- linear_vel_max [1]
- linear_vel_step [0.05]
- angular_vel_max [6.6]
- angular_vel_step [0.33]
Reading from keyboard
---------------------
Forward/back arrows : linear velocity incr/decr.
Right/left arrows : angular velocity incr/decr.
Spacebar : reset linear/angular velocities.
q : quit.
current pose: [x: 5.61871e-310, y: 6.9339e-310, heading: 6.95299e-310]
current pose: [x: 5.61871e-310, y: 6.9339e-310, heading: 6.95299e-310] <- The kobuki base actually moves but the values do not change
[…]
current pose: [x: 5.61871e-310, y: 6.9339e-310, heading: 6.95299e-310]
current pose: [x: 5.61871e-310, y: 6.9339e-310, heading: 6.95299e-310]
Is there a way to debug this ? Is that normal given the current state of the drivers ?
On a side note: is this possible to control the robot from ROS2 right now ?
Thanks,
Rémy
Additional information:
$ kobuki-version-info
Version Info
* Hardware Version: 1.0.4
* Firmware Version: 1.2.0
* Software Version: 1.3.1
* Unique Device ID: 98107186-859195458-1125344564
Hardly seems a good reason to maintain the complexity of a separate package for the dock drive. The reference implementation (even if it's not great) may as well be part of the core. It doesn't introduce any extra build or runtime burden even if not using it.
kobuki_dock_drive headers and sources into kobukiCheck that firmware releases are available and stored on either a server maintained by the open source developers on this project or at least backed up somewhere so that they can be provided if the Yujin Robot server should disappear.
Victory Conditions
The docking library is a really quick hack at writing a docking algorithm.
find_stream and get_stream when no signals are forthcoming.All of these and more could use some work. PR's welcome, but it's more likely you would like to write your own algorithm and optimise it for your application.
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