Hardware:

• Kobuki base
• Power supply cable (for recharging)
• USB cable

More information such as User Guide and Manual Installation steps can be found in this post.

Clone the repo:

git clone https://github.com/j3soon/docker-ros-kobuki.git
cd docker-ros-kobuki

Installation of udev rules must be done on the host machine:

./setup_udev_rules.sh

You should see done if everything works correctly.

sudo apt-get update && sudo apt-get install -y docker.io docker-compose
# Connect and power on kobuki
./docker-compose.sh up -d
./docker-exec-bringup.sh
# Open a new terminal
./docker-exec-teleop.sh
# Control kobuki with keyboard
# Press Ctrl+C to exit
./docker-compose.sh shutdown

The pre-built docker images will be pulled automatically.

Although the docker container support hot plugging, if Kobuki is re-plugged or re-booted, you still need to re-run the following commands:

./docker-exec-bringup.sh
./docker-exec-teleop.sh

• On amd64 machine:

  docker build -f Dockerfile -t j3soon/ros-melodic-kobuki:latest .

• On arm64 machine:

  docker build -f Dockerfile.jetson -t j3soon/ros-melodic-kobuki:latest .

If you want to build an image that supports multiple architectures, please refer to the build workflow.

• thirdparty/install_basic.sh is copied from: https://github.com/gaunthan/Turtlebot2-On-Melodic/blob/master/install_basic.sh (commit a98834a)
• thirdparty/60-kobuki.rules is copied from: https://github.com/kobuki-base/kobuki_core/blob/devel/60-kobuki.rules (commit e2f0fea)

Last tested manually on 2023/05/24:

• Ubuntu 18.04.6 LTS (amd64) on Intel CPU
• Ubuntu 20.04.5 LTS (arm64) on Jetson AGX Xavier (Jetpack 5.1.1)

Last tested manually on 2023/05/19:

• Ubuntu 22.04.2 LTS (amd64) on AMD CPU

• Most command failures can be resolved by simply re-running the command or rebooting Kobuki.