Missing installation guide for ROS-melodic #399
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Many of the kobuki ROS packages don't seem to be officially supported by ROS Melodic just yet. You can see more at turtlebot/turtlebot#272 regarding the turtlebot2 robot which depends on kobuki. It sounds like the only way to get it to work currently is to build from source. However, like you, I'll be very happy when the ros-melodic-kobuki-node package becomes available on apt-get. |
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@swinterbotix I tried to install from source using gaunthan/Turtlebot2-On-Melodic#5, but everything launches except GazeboRos::readCommonParameter, GazeboRosKobuki::preparePublishTf, or GazeboRosKobuki::setupRosApi which is necessary for the odom and tf data. Any workarounds? |
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I've got no idea - but thanks for pointing out that repo! I'll take a look at it at some point. |
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Ubuntu 16.04 + Kinetic would end support in April, 2021, now Kinetic version isn't recommended for new installs by ROS wiki. I see there is a melodic branch for kobuki, shall we try that instead of devel ? |
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For anyone who is interested, I've attached an installation script that should get all the packages listed in the melodic branch of this repo working on Ubuntu 18.04 (especially kobuki_node) except for the kobuki_capabilities package (which doesn't seem to be that important anyway). To do this, I literally went through all the dependencies in those packages and confirmed that they would either by installed automatically by rosdep or are already present in the repo. Note that I've only confirmed that everything builds. Unfortunately I won't be able to test until tomorrow whether or not it runs properly since my Kobuki base is dead, and my charger is at work :( |
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Thanks for your contribution, @swinterbotix ! When you got chance, hope to try roslaunch kobuki_node minimal.launch to see if the error message "Malformed sub-payload detected" is gone. This issue ( #382 ) is kind of a mystery in 18.04 melodic. Best, |
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I can definitely check for that. But the error you're talking about also happens in kinetic. From my experience (both personally and doing research online), it doesn't affect anything and should just be ignored. |
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@swinterbotix , thanks for your prompt reply. It's pretty annoying so really want to know the root cause. We are also digging deeper to figure it out (for both curiosity and robotic health, a useful ref: http://yujinrobot.github.io/kobuki/enAppendixProtocolSpecification.html from Daniel) -- Luke |
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So I tested the robot today with the installation script by running the minimal.launch launch file. Everything seems to work just fine, but I do get the following warnings...
So I understand the first warning - about no robot description being found as the minimal launch file doesn't set the robot_description parameter. However, if I run the 'robot_with_tf' launch file which does load the robot_description parameter, that warning goes away. About the other warnings - it seems to say that the kobuki base firmware is outdated and should be upgraded. Unfortunately, I was not successful in doing this as their download links don't work. I created an Issue about it - #420. That said, the base still seems to function properly! ...And yes, I still get those pesky malformed sub-payload detected errors. |
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@swinterbotix , I got similar issues as you. Feel free to check #418, and regards to your
This one could be resolved by adding robot description in minimal.launch file. (in kobuki_description/launch/view_model.launch) ref: #382 -- Luke |
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You're awesome @lukelu0520! Firmware is now updated and warnings have disappeared! It's interesting though how running minimal.launch in kinetic did not give the robot description warning though. In any event, even with the updated firmware, I'm still seeing that sub-payload error message. |
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how can I have this working in gazebo. I installed everything as mentioned above. later on cleaned it and installed it by running the convenient script provided at turtblebot2onMelodic. When i ran the gazebo simulation in the empty world, it runs fine. but teleoperation or directly publish twist objects the the cmd_vel_mux/ topics does not work. At least the robot is not moving. how can i achieve this for simulation purposes? thanks |
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If you'd like to help out rather than hack (yes, I know, hacking is fun) around the edges, delve into #422 :) |
@zhaxiche I am working on QBot 2e as well using ROS Melodic. I end up with some errors as well (mentioned below). Please let me know if you know the solution to this error. Also, let's collaborate and have proper communication to help each other in working with QBot 2e using ROS-Melodic. ubuntu@ubuntu:~/catkin_ws$ catkin_make -j1 Running command: "make cmake_check_build_system" in "/home/ubuntu/catkin_ws/build"Running command: "make -j1" in "/home/ubuntu/catkin_ws/build"[ 0%] Built target _kobuki_msgs_generate_messages_check_deps_ScanAngle |
I know this is old topic but for anyone still having issues, I believe After building and sourcing the package, you can teleop successfully in the simulation environment! |
I'm trying to install the kobuki stuff using ROS melodic. (http://wiki.ros.org/kobuki/Tutorials/Installation) The hardware is a Qbot2e running Ubuntu MATE 18.04 with RaspberryPi 3+. However, the installation guide for Melodic is missing. Could you please update it?
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