kobuki 学习笔记
具体参考：
1.安装1.1.安装包： sudo apt-get install ros-hydro-kobuki ros-hydro-kobuki-core1.2.是能USB连接 rosrun kobuki_ftdi create_udev_rules1.3.键盘控制 roslaunch kobuki_node minimal.launch 最小操作 roslaunch kobuki_keyop keyop.launch 键盘操作2.基本软件，观测传感器数据，发送命令2.1 登录 屏幕显示 roslaunch kobuki_node minimal.launch –screen 2.2列主题 rostopic list注：输入输出数据结构<node_name>/sensor/: <node_name>/events/: <node_name>/commands/:<node_name>/debug/:2.3 检查传感器Check the bumpers: rostopic echo /mobile_base/events/bumper Check the wheel drop sensors: rostopic echo /mobile_base/events/wheel_dropCheck the IMU: rostopic echo /mobile_base/sensors/imu_data 2.4触发2.4.1 led操作 ：0 – off 1 – green 2 – orange 3 – red rostopic pub /mobile_base/commands/led1 kobuki_msgs/Led "value: 1"2.4.2 声音：0 – turn on 1 – turn off 2 – recharge start 3 – press button, 4 – error sound 5 – start cleaning 6 – cleaning end rostopic pub /mobile_base/commands/sound kobuki_msgs/Sound "value: 6"2.4.3 速度发布rostopic pub /mobile_base/commands/velocity geometry_msgs/Twist "linear: angular: x: 1.0 x: 0.0 y: 0.0 y: 0.0 z: 0.0 z: 0.03.移动 3.1 登录使用（键盘） $ roslaunch kobuki_node minimal.launch –screen $ roslaunch kobuki_keyop safe_keyop.launch （safe_keyop速度平滑 保险杠检测）4。硬件测试4.1 电池测试-安装qtestsuite ?4.2 数字量输出口 rosrun kobuki_testsuite test_digital_output.py4.3 硬件组建测试 rosrun kobuki_testsuite test_events.py4.4 模拟输入 rosrun kobuki_testsuite test_analog_input.py4.5 电池电压 rosrun kobuki_testsuite test_battery_voltage.py4.6 陀螺 rosrun kobuki_testsuite test_gyro.py4.7 LED rosrun kobuki_testsuite test_led_array.py4.8 简单运动 rosrun kobuki_testsuite test_rotation.py rosrun kobuki_testsuite test_translation.py4.9 声音 rosrun kobuki_testsuite test_sounds.py5对话框 运动GUI5.1 安装 sudo apt-get install ros-hydro-rqt-robot-monitor5.2 运行 rosrun rqt_robot_monitor rqt_robot_monitor6 测试自动对接（需红外对接站？？）＊＊界面式查kobuki的电量（先运行节点）：rosrun rqt_gui rqt_gui
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