Docker environment for kobuki

ROS 2 jazzy docker environment for the kobuki base.

This Docker environment has been developed for the HelloRIC project.

Based on the packages build using docker as well

Installation

Just install docker-ce on your machine and pull the docker image.

Usage

After installation run the docker environment on your machine, thats easiest with docker compose, just run docker compose up -d kobuki-base-arm64. You could also setup systemd to automatically start the image, however you probably want to use this project as base and create your own docker-compose file.

Don't forget to set your ROS_DOMAIN_ID in the docker-compose file or by providing a .env-file that has the ROS_DOMAIN_ID set

After starting the docker environment on your robot you should hear the sound of the kobuki base. Now you can control your robot on from your PC by running ros2 run rqt_robot_steering rqt_robot_steering and setting the topic to /commands/velocity

It's recommended to start by rotating slowly on the spot instead of moving forward/backward right away.

Alternatively put the robot on a box so the wheels spin in the air so its safe to control.

For quicker demo testing, try to send commands directly:

# Constant forward (Ctrl+C to stop)
ros2 topic pub -r 10 /commands/velocity geometry_msgs/msg/Twist "{linear: {x: 0.25}, angular: {z: 0.0}}"
# Stop
ros2 topic pub --once /commands/velocity geometry_msgs/msg/Twist "{}"

Contributing

Please use the issue tracker to submit bug reports and feature requests. Please use merge requests as described here to add/adapt functionality.

License

this docker environment setup is distributed under the 3-clause BSD license.

Maintainer / Authors / Contributers

Andreas Bresser, andreas.bresser@dfki.de